MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.3s	12 errors · 310 warnings · 1563 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/2026-09-18-19-17-20-454968-e9fc6506214b-7578 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.81sINFOstatic_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' + 4.82sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.82sINFOstatic_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' + 4.83sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 5.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 5.02sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 5.03sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.05sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.06sINFOcontroller_managerupdate rate is 600 Hz + 5.06sINFOcontroller_managerOverruns handling is : enabled + 5.06sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.06sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 5.06sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 5.06sWARNcontroller_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. + 5.07sINFOros2_control_node-11process started with pid [7730] ×2 + 5.07sINFOmove_group-23process started with pid [7750] ×2 + 5.07sINFOparameter_manager_node-24process started with pid [7754] ×2 + 5.07sINFOwaypoint_manager_node-25process started with pid [7783] ×2 + 5.07sINFOmove_joint_resampler_node-26process started with pid [7784] ×2 + 5.07sINFOmove_end_effector_resampler_node-27process started with pid [7785] ×2 + 5.07sINFOobjective_server_node_main-28process started with pid [7786] ×2 + 5.07sINFOcomponent_container_mt-29process started with pid [7787] ×2 + 5.07sINFOcomponent_container_mt-30process started with pid [7788] ×2 + 5.07sINFOexecute_objective_bridge-31process started with pid [7789] ×2 + 5.07sINFOui_teleop_bridge-32process started with pid [7790] ×2 + 5.07sINFOweb_bridge-33process started with pid [7791] ×2 + 5.07sINFOtf2_web_republisher_node-34process started with pid [7792] ×2 + 5.07sINFOvideo_server-35process started with pid [7793] ×2 + 5.07sINFOweb_bridge_auth_proxy-36process started with pid [7794] ×2 + 5.07sINFOweb_video_auth_proxy-37process started with pid [7795] ×2 + 5.07sINFOcomponent_container_isolated-1process started with pid [7628] ×2 + 5.07sINFOcomponent_container_isolated-2process started with pid [7629] ×2 + 5.07sINFOstatic_transform_publisher-3process started with pid [7630] ×2 + 5.07sINFOstatic_transform_publisher-4process started with pid [7631] ×2 + 5.07sINFOodom_qos_relay.py-5process started with pid [7632] ×2 + 5.07sINFOlidar_flattener.py-6process started with pid [7633] ×2 + 5.07sINFOstatic_transform_publisher-7process started with pid [7634] ×2 + 5.08sINFOstatic_transform_publisher-8process started with pid [7635] ×2 + 5.08sINFOscan_to_scan_filter_chain-9process started with pid [7636] ×2 + 5.08sINFOscan_to_scan_filter_chain-10process started with pid [7729] ×2 + 5.08sINFOros2-12process started with pid [7731] ×2 + 5.08sINFOros2-13process started with pid [7732] ×2 + 5.08sINFOros2-14process started with pid [7733] ×2 + 5.08sINFOros2-15process started with pid [7734] ×2 + 5.08sINFOros2-16process started with pid [7735] ×2 + 5.08sINFOros2-17process started with pid [7738] ×2 + 5.08sINFOros2-18process started with pid [7741] ×2 + 5.08sINFOros2-19process started with pid [7742] ×2 + 5.08sINFOros2-20process started with pid [7745] ×2 + 5.08sINFOros2-21process started with pid [7746] ×2 + 5.08sINFOros2-22process started with pid [7747] ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821829 ms (missed cycles : 2). + 5.09sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 5.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.14sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 5.14sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 5.14sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 5.14sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.14sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 5.14sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.14sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.14sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.14sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.14sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821829 ms (missed cycles : 2).[0m ×2 + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 5.15sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.15sINFOcontroller_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. + 5.20sINFOcontroller_serverCreating controller server + 5.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.24sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.25sINFOlocal_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. + 5.26sINFOlocal_costmap.local_costmapCreating Costmap + 5.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.28sINFOmap_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. + 5.28sINFOmap_serverCreating + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.29sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.29sINFOvideo_server2026/09/18 19:17:27 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.29sINFOvideo_server2026/09/18 19:17:27 INF configuration loaded from /tmp/moveit-webrtc-p6dt5c26/mediamtx.yml ×2 + 5.30sINFOvideo_server2026/09/18 19:17:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.30sINFOvideo_server2026/09/18 19:17:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.32sINFOsmoother_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. + 5.36sINFOsmoother_serverCreating smoother server + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.40sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.40sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.40sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.40sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.43sINFOlifecycle_manager_localizationCreating + 5.44sINFOplanner_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. + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.46sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.46sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.46sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.46sINFOmap_serverConfiguring + 5.47sINFOplanner_serverCreating + 5.52sINFOglobal_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. + 5.52sINFOglobal_costmap.global_costmapCreating Costmap + 5.53sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.55sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.58sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.58sINFOamclConfiguring + 5.58sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.59sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.59sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.59sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.59sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.59sINFOmap_serverActivating + 5.60sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.61sINFObehavior_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. + 5.63sINFOrobot_state_publisherRobot initialized + 5.63sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.64sINFOcontroller_managerReceived robot description from topic. + 5.64sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.64sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.64sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.67sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.69sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.70sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.71sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.71sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.71sINFOamclActivating + 5.71sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.71sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.72sINFOamclSubscribed to map_topic: /map + 5.72sINFOamclSubscribed to scan_topic: /scan_merged + 5.73sINFOamclCreated reinitialize_global_localization service + 5.74sINFOamclCreated request_nomotion_update service + 5.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.74sINFOamclA new map was received + 5.74sINFOamclInitializing particle filter instance + 5.76sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.80sINFObt_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. + 5.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.82sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.84sINFObt_navigatorCreating + 5.84sWARNlaser_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. + 5.84sWARNscan_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 ×4 + 5.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.90sINFOwaypoint_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. + 5.90sINFOwaypoint_followerCreating + 5.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.92sWARNlaser_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. + 5.95sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.401476 seconds + 5.95sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.95sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.96sINFOmove_groupLoaded robot model in 0.401476 seconds[0m ×2 + 5.96sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.96sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.96sINFOvelocity_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. + 5.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 6.01sINFOlifecycle_manager_navigationCreating + 6.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 6.04sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 6.06sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 6.06sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 6.06sINFOcontroller_serverConfiguring controller interface + 6.06sINFOcontroller_servergetting progress checker plugins.. + 6.06sINFOcontroller_servergetting goal checker plugins.. + 6.06sINFOcontroller_serverController frequency set to 20.0000Hz + 6.06sINFOlocal_costmap.local_costmapConfiguring + 6.07sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 6.09sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 6.10sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.10sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.14sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 6.14sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 6.14sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.17sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.17sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.18sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.19sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.19sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114929 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114929 ms (missed cycles : 4).[0m ×2 + 6.22sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.23sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.23sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.24sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.24sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.25sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.25sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.25sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.25sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.25sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.25sINFOcontroller_serverOptimizer reset ×2 + 6.28sINFOcontroller_serverController Server has FollowPath controllers available. + 6.28sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.29sINFOsmoother_serverConfiguring smoother server + 6.30sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.30sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.32sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.32sINFOplanner_serverConfiguring + 6.32sINFOglobal_costmap.global_costmapConfiguring + 6.33sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.33sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.33sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.33sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.34sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.35sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.35sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.35sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.40sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.40sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.40sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.42sINFOplanner_serverPlanner Server has GridBased planners available. + 6.47sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.47sINFObehavior_serverConfiguring + 6.49sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.50sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.51sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.52sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.55sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.56sINFOamclParticle filter initialization completed + 6.56sINFOamclInitializing particles from estimated pose and covariance + 6.56sINFObehavior_serverConfiguring spin + 6.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.58sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.58sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.59sWARNmove_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 ×2 + 6.59sWARNmove_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 ×2 + 6.59sWARNmove_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. + 6.59sWARNmove_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 ×2 + 6.59sWARNmove_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. + 6.59sWARNmove_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 ×2 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.60sWARNmove_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. + 6.60sWARNmove_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. + 6.60sWARNmove_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 ×2 + 6.60sWARNmove_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 ×2 + 6.60sWARNmove_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 ×2 + 6.60sWARNmove_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. + 6.60sWARNmove_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 ×2 + 6.60sWARNmove_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. + 6.60sWARNmove_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 ×2 + 6.62sINFObehavior_serverConfiguring backup + 6.62sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.62sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.62sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.63sINFObehavior_serverConfiguring drive_on_heading + 6.64sINFObehavior_serverConfiguring assisted_teleop + 6.65sINFObehavior_serverConfiguring wait + 6.66sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.66sINFObt_navigatorConfiguring + 6.66sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.67sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.68sWARNbt_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 + 6.75sINFOwaypoint_manager_nodeLoaded robot model in 0.360558 seconds[0m ×2 + 6.75sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.75sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.80sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.84sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.84sINFOwaypoint_followerConfiguring + 6.86sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.86sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.86sINFOvelocity_smootherConfiguring velocity smoother + 6.87sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.87sINFOcontroller_serverActivating + 6.87sINFOlocal_costmap.local_costmapActivating + 6.87sINFOlocal_costmap.local_costmapChecking transform + 6.87sINFOlocal_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 + 6.91sINFOmove_group[2026-09-18 19:17:28.997] [moveit_pro_license] [info] ×2 + 6.91sINFOmove_group************************************************* ×4 + 6.91sINFOmove_group* MoveIt Pro License ×2 + 6.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.02sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.02sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.02sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.04sINFOros2_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 ×2 + 7.05sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 7.09sWARNwaypoint_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. + 7.09sWARNwaypoint_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. + 7.09sWARNwaypoint_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. + 7.09sWARNwaypoint_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. + 7.09sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_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 ×2 + 7.10sWARNwaypoint_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 ×2 + 7.11sWARNwaypoint_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. + 7.11sWARNwaypoint_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 ×2 + 7.11sWARNwaypoint_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. + 7.11sWARNwaypoint_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 ×2 + 7.36sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.36sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.36sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.36sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.36sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.36sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.37sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.37sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.37sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.37sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.37sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.37sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.37sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.37sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.38sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.38sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.38sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.38sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.38sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.38sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.38sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.38sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.44sINFOwaypoint_manager_node[2026-09-18 19:17:29.521] [moveit_pro_license] [info] ×2 + 7.44sINFOwaypoint_manager_node************************************************* ×4 + 7.44sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.44sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182012 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182012 ms (missed cycles : 2).[0m ×2 + 7.81sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.81sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.82sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.92sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.92sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.92sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.92sWARNros2_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: ×2 + 7.92sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.92sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.92sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.92sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.92sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.92sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.92sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.92sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.92sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.92sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.92sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.92sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.92sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.92sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.92sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.92sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.92sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.92sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.92sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.92sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.92sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.92sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.92sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.92sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.92sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.92sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.10sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.10sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.10sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.10sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 8.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 8.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.30sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.31sINFOros2_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 ×2 + 8.31sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.31sWARNros2_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 ×2 + 8.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.31sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.36sINFOobjective_server_node[2026-09-18 19:17:30.441] [moveit_pro_license] [info] ×2 + 8.36sINFOobjective_server_node************************************************* ×4 + 8.36sINFOobjective_server_node* MoveIt Pro License ×2 + 8.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.36sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.44sINFOobjective_server_nodeLoaded robot model in 0.0364701 seconds[0m ×2 + 8.44sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.44sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.51sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.53sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.53sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.53sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.53sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.53sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.53sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.54sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.54sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' + 8.54sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.54sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.54sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.54sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.55sINFOstreaming_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) + 8.55sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.55sINFOcomponent_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 ×2 + 8.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.55sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.57sWARNcomponent_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 ×2 + 8.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.75sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.77sINFOstreaming_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) + 8.77sINFOcomponent_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 ×2 + 8.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331201 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331201 ms (missed cycles : 2).[0m ×2 + 8.77sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.82sINFOros2_control_node[2026-09-18 19:17:30.908] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.83sINFOros2_control_node[2026-09-18 19:17:30.912] [info] Controller state will be published at 10 Hz. ×2 + 8.83sINFOros2_control_node[2026-09-18 19:17:30.913] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.96sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.96sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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.[0m ×2 + 9.00sINFOcomponent_container_mtLoaded robot model in 0.434162 seconds[0m ×2 + 9.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.02sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.05sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.05sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.08sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 9.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 9.17sINFOros2-19process has finished cleanly [pid 7742] ×2 + 9.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.19sINFOforce_torque_sensor_broadcasterconfigure successful + 9.19sINFOros2_control_nodeconfigure successful[0m ×6 + 9.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.20sINFOcontroller_managerSuccessfully switched controllers! ×20 + 9.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 9.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.30sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.30sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 ×2 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 ×2 + 9.37sWARNplanning_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. + 9.37sWARNplanning_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. + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sWARNplanning_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. + 9.37sWARNplanning_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. + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sWARNplanning_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. + 9.37sWARNplanning_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. + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.39sWARNplanning_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. + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 ×2 + 9.39sWARNcomponent_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 ×2 + 9.53sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.53sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.53sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.53sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.54sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 9.54sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 9.55sINFOros2-12process has finished cleanly [pid 7731] ×2 + 9.59sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.59sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.59sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.59sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.60sINFOplatform_velocity_controller_nav2configure successful + 9.60sINFOcomponent_container_mt[2026-09-18 19:17:31.684] [moveit_pro_license] [info] ×2 + 9.60sINFOcomponent_container_mt************************************************* ×4 + 9.60sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.60sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714683 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714683 ms (missed cycles : 2).[0m ×2 + 9.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.92sINFOros2-17process has finished cleanly [pid 7738] ×2 + 9.96sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.97sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 9.99sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 10.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.07sINFOmove_groupMoveGroup debug mode is ON + 10.07sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 10.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 10.11sWARNros2_control_nodeCamera render tick took 0.99 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.14sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 10.14sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 10.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 10.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 10.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 10.14sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.14sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 10.15sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 10.15sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 10.28sINFOmove_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 ****************************************************** + 10.28sINFOmove_group ×8 + 10.28sINFOmove_group****************************************************** ×4 + 10.28sINFOmove_group* MoveGroup using: ×2 + 10.28sINFOmove_group* - apply_planning_scene_service ×2 + 10.28sINFOmove_group* - clear_octomap_service ×2 + 10.28sINFOmove_group* - get_group_urdf ×2 + 10.28sINFOmove_group* - load_geometry_from_file ×2 + 10.28sINFOmove_group* - get_planning_scene_service ×2 + 10.28sINFOmove_group* - kinematics_service ×2 + 10.28sINFOmove_group* - save_geometry_to_file ×2 + 10.28sINFOmove_group* - GetPlanningGroups ×2 + 10.28sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.28sINFOmove_group[0m ×2 + 10.28sINFOmove_group[92mYou can start planning now![0m ×2 + 10.40sINFOros2_control_node[2026-09-18 19:17:32.483] [info] Controller state will be published at 20 Hz. ×2 + 10.40sINFOros2_control_node[2026-09-18 19:17:32.484] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 10.71sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.71sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.71sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.71sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.72sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 10.72sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 10.74sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.75sINFOros2-21process has finished cleanly [pid 7746] ×2 + 10.77sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.77sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180494 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180494 ms (missed cycles : 3).[0m ×2 + 11.06sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.06sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.06sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.06sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 11.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 11.10sINFOros2-16process has finished cleanly [pid 7735] ×2 + 11.11sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.11sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.12sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.12sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.12sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.12sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.17sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789759051.210 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.35sWARNobjective_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/. ×2 + 11.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.49sINFOros2-13process has finished cleanly [pid 7732] ×2 + 11.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 11.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 11.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.54sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.54sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.54sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.86sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.86sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.86sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 11.86sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.86sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 11.87sINFOlocal_costmap.local_costmapstart + 11.87sINFOros2-14process has finished cleanly [pid 7733] ×2 + 11.93sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.93sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.93sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.93sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.93sINFOplatform_velocity_controllerconfigure successful + 11.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.94sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.94sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.97sWARNcontroller_serverParameter controller_server.verbose not found + 11.97sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817994 ms (missed cycles : 5). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817994 ms (missed cycles : 5).[0m ×2 + 12.08sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.08sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.08sINFOsmoother_serverActivating + 12.08sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.19sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.19sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.19sINFOplanner_serverActivating + 12.19sINFOglobal_costmap.global_costmapActivating + 12.19sINFOglobal_costmap.global_costmapChecking transform + 12.19sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 12.20sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 6.985ms + 12.23sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.23sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.23sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.23sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.23sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 12.23sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 12.27sINFOros2-15process has finished cleanly [pid 7734] ×2 + 12.30sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.30sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.30sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.30sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.67sINFOros2_control_node[2026-09-18 19:17:34.759] [info] Controller state will be published at 20 Hz. ×2 + 12.67sINFOros2_control_node[2026-09-18 19:17:34.759] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.69sINFOglobal_costmap.global_costmapstart + 12.99sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789759054.273 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.01sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.01sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.01sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.01sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.01sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 13.01sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 13.02sINFOros2-22process has finished cleanly [pid 7747] ×2 + 13.06sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.06sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.07sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804075 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804075 ms (missed cycles : 2).[0m ×2 + 13.44sINFOros2_control_node[2026-09-18 19:17:35.523] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.44sINFOros2_control_node[2026-09-18 19:17:35.524] [info] Controller state will be published at 10 Hz. ×2 + 13.44sINFOros2_control_node[2026-09-18 19:17:35.525] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.74sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.74sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.79sINFOros2-20process has finished cleanly [pid 7745] ×2 + 13.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh + 13.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o14ts3wj --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_nuv3jcl3 --params-file /tmp/launch_params_prj5vofh [0m ×2 + 13.85sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.85sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.85sINFObehavior_serverActivating + 13.85sINFObehavior_serverActivating spin + 13.85sINFObehavior_serverActivating backup + 13.85sINFObehavior_serverActivating drive_on_heading + 13.85sINFObehavior_serverActivating assisted_teleop + 13.85sINFObehavior_serverActivating wait + 13.85sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.93sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.93sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.93sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.93sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.93sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.95sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.95sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.95sINFObt_navigatorActivating + 14.01sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063836 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063836 ms (missed cycles : 2).[0m ×2 + 14.11sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.11sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.11sINFOwaypoint_followerActivating + 14.11sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.22sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.22sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.22sINFOvelocity_smootherActivating + 14.22sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.30sINFOros2-18process has finished cleanly [pid 7741] ×2 + 14.32sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.32sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.32sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126598 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126598 ms (missed cycles : 2).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 17.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 19.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.23sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.23sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.23sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.23sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.23sINFOobjective_server_nodecaller: ×10 + 19.23sINFOobjective_server_nodetype: 0 ×10 + 19.23sINFOobjective_server_nodename: "" ×10 + 19.23sINFOobjective_server_nodeinstance_id: "" ×10 + 19.23sINFOobjective_server_node ×10 + 19.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 19.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 19.27sINFOmove_groupClearing octomap...[0m ×4 + 19.27sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 19.27sINFOmove_groupOctomap cleared.[0m ×4 + 19.27sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 19.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 19.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 20.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 20.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 21.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.20sINFOobjective_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 + 21.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 21.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.81sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.6s	3 errors · 257 warnings · 261 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.675ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687016 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687016 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.115ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951777 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951777 ms (missed cycles : 3).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.109ms + 1.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.908ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148023 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148023 ms (missed cycles : 2).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.891ms + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789759271.68293142 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323233 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323233 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789759272.26666498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.347ms + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172357 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172357 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151149 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151149 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768494 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768494 ms (missed cycles : 2).[0m ×2 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111329 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111329 ms (missed cycles : 2).[0m ×2 + 8.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.374ms + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821566 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821566 ms (missed cycles : 2).[0m ×2 + 9.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.048ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168395 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168395 ms (missed cycles : 2).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.717ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231915 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231915 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.905ms + 11.10sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 7.873ms + 11.60sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 5.964ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987249 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987249 ms (missed cycles : 2).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 3.519ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.510ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121896 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121896 ms (missed cycles : 2).[0m ×2 + 13.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 13.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709972 ms (missed cycles : 3). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709972 ms (missed cycles : 3).[0m ×2 + 14.06sWARNros2_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 ×6 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654947 ms (missed cycles : 4). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654947 ms (missed cycles : 4).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609226 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609226 ms (missed cycles : 3).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436588 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436588 ms (missed cycles : 2).[0m ×2 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834066 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834066 ms (missed cycles : 2).[0m ×2 + 18.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374990 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374990 ms (missed cycles : 2).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825137 ms (missed cycles : 2). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825137 ms (missed cycles : 2).[0m ×2 + 20.60sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887824 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887824 ms (missed cycles : 2).[0m ×2 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082640 ms (missed cycles : 3). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082640 ms (missed cycles : 3).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727288 ms (missed cycles : 6). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727288 ms (missed cycles : 6).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459692 ms (missed cycles : 5). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459692 ms (missed cycles : 5).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914796 ms (missed cycles : 3). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914796 ms (missed cycles : 3).[0m ×2 + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213371 ms (missed cycles : 5). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213371 ms (missed cycles : 5).[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909590 ms (missed cycles : 3). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909590 ms (missed cycles : 3).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866471 ms (missed cycles : 2). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866471 ms (missed cycles : 2).[0m ×2 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974104 ms (missed cycles : 3). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974104 ms (missed cycles : 3).[0m ×2 + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843583 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843583 ms (missed cycles : 2).[0m ×2 + 30.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 31.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491484 ms (missed cycles : 3). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491484 ms (missed cycles : 3).[0m ×2 + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms ×2 + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212236 ms (missed cycles : 2). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212236 ms (missed cycles : 2).[0m ×2 + 33.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396864 ms (missed cycles : 3). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396864 ms (missed cycles : 3).[0m ×2 + 34.45sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.45sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678219 ms (missed cycles : 2). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678219 ms (missed cycles : 2).[0m ×2 + 35.05sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.94sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254526 ms (missed cycles : 3). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254526 ms (missed cycles : 3).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696365 ms (missed cycles : 2). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696365 ms (missed cycles : 2).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411163 ms (missed cycles : 3). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411163 ms (missed cycles : 3).[0m ×2 + 38.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532371 ms (missed cycles : 5). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532371 ms (missed cycles : 5).[0m ×2 + 39.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.532ms + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065778 ms (missed cycles : 2). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065778 ms (missed cycles : 2).[0m ×2 + 40.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835047 ms (missed cycles : 3). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835047 ms (missed cycles : 3).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456422 ms (missed cycles : 3). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456422 ms (missed cycles : 3).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211386 ms (missed cycles : 2). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211386 ms (missed cycles : 2).[0m ×2 + 44.62sWARNros2_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 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554168 ms (missed cycles : 3). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554168 ms (missed cycles : 3).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484051 ms (missed cycles : 5). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484051 ms (missed cycles : 5).[0m ×2 + 46.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.578ms + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888649 ms (missed cycles : 2). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888649 ms (missed cycles : 2).[0m ×2 + 47.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947579 ms (missed cycles : 4). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947579 ms (missed cycles : 4).[0m ×2 + 48.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 49.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815924 ms (missed cycles : 4). + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815924 ms (missed cycles : 4).[0m ×2 + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 49.86sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083330 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083330 ms (missed cycles : 2).[0m ×2 + 51.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515006 ms (missed cycles : 3). + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515006 ms (missed cycles : 3).[0m ×2 + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284104 ms (missed cycles : 3). + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284104 ms (missed cycles : 3).[0m ×2 + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813398 ms (missed cycles : 3). + 53.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813398 ms (missed cycles : 3).[0m ×2 + 53.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692438 ms (missed cycles : 3). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692438 ms (missed cycles : 3).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741691 ms (missed cycles : 2). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741691 ms (missed cycles : 2).[0m ×2 + 55.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263418 ms (missed cycles : 2). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263418 ms (missed cycles : 2).[0m ×2 + 57.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.467ms + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222509 ms (missed cycles : 2). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222509 ms (missed cycles : 2).[0m ×2 + 58.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888876 ms (missed cycles : 3). + 58.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888876 ms (missed cycles : 3).[0m ×2 + 58.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 59.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357353 ms (missed cycles : 3). + 59.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357353 ms (missed cycles : 3).[0m ×2 + 60.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065100 ms (missed cycles : 2). + 60.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065100 ms (missed cycles : 2).[0m ×2 + 61.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513324 ms (missed cycles : 3). + 61.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513324 ms (missed cycles : 3).[0m ×2 + 63.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069757 ms (missed cycles : 2). + 63.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069757 ms (missed cycles : 2).[0m ×2 + 63.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 64.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964174 ms (missed cycles : 5). + 64.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964174 ms (missed cycles : 5).[0m ×2 + 65.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 65.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740219 ms (missed cycles : 4). + 65.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740219 ms (missed cycles : 4).[0m ×2 + 66.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 66.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472739 ms (missed cycles : 3). + 66.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472739 ms (missed cycles : 3).[0m ×2 + 66.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 67.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659236 ms (missed cycles : 3). + 67.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659236 ms (missed cycles : 3).[0m ×2 + 67.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 68.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789759337.26684737 seconds ×3 + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.47sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 68.77sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.77sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221317 ms (missed cycles : 2). + 68.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221317 ms (missed cycles : 2).[0m ×2 + 68.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.92sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789759337.84527969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.061ms + 69.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936150 ms (missed cycles : 2). + 69.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936150 ms (missed cycles : 2).[0m ×2 + 71.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153193 ms (missed cycles : 2). + 71.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153193 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.1s	224 warnings · 215 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340068 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340068 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439922 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439922 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.76sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789759112.99864554 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159721 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159721 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789759113.58143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.416ms + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759417 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759417 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.87sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932018 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932018 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713745 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713745 ms (missed cycles : 4).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 3.379ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840160 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840160 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 3.269ms + 9.78sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.431ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348042 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348042 ms (missed cycles : 4).[0m ×2 + 9.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750290 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750290 ms (missed cycles : 3).[0m ×2 + 11.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 11.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.128ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367510 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367510 ms (missed cycles : 4).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.807ms + 12.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.418ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931428 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931428 ms (missed cycles : 2).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766780 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766780 ms (missed cycles : 2).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.373ms ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367157 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367157 ms (missed cycles : 3).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.195ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808772 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808772 ms (missed cycles : 3).[0m ×2 + 16.19sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 16.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469415 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469415 ms (missed cycles : 3).[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353054 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353054 ms (missed cycles : 2).[0m ×2 + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385901 ms (missed cycles : 2). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385901 ms (missed cycles : 2).[0m ×2 + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707252 ms (missed cycles : 2). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707252 ms (missed cycles : 2).[0m ×2 + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.197ms + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070990 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070990 ms (missed cycles : 4).[0m ×2 + 22.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 22.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 22.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919042 ms (missed cycles : 3). + 23.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919042 ms (missed cycles : 3).[0m ×2 + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 23.87sWARNros2_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 + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567389 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567389 ms (missed cycles : 2).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223049 ms (missed cycles : 3). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223049 ms (missed cycles : 3).[0m ×2 + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233971 ms (missed cycles : 2). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233971 ms (missed cycles : 2).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130498 ms (missed cycles : 3). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130498 ms (missed cycles : 3).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721629 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721629 ms (missed cycles : 3).[0m ×2 + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373986 ms (missed cycles : 3). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373986 ms (missed cycles : 3).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309839 ms (missed cycles : 4). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309839 ms (missed cycles : 4).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099705 ms (missed cycles : 2). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099705 ms (missed cycles : 2).[0m ×2 + 31.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425278 ms (missed cycles : 2). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425278 ms (missed cycles : 2).[0m ×2 + 33.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157714 ms (missed cycles : 2). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157714 ms (missed cycles : 2).[0m ×2 + 34.28sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320880 ms (missed cycles : 2). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320880 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383316 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383316 ms (missed cycles : 2).[0m ×2 + 36.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770402 ms (missed cycles : 2). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770402 ms (missed cycles : 2).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860806 ms (missed cycles : 3). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860806 ms (missed cycles : 3).[0m ×2 + 39.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840426 ms (missed cycles : 3). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840426 ms (missed cycles : 3).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650480 ms (missed cycles : 3). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650480 ms (missed cycles : 3).[0m ×2 + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780701 ms (missed cycles : 3). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780701 ms (missed cycles : 3).[0m ×2 + 41.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.633ms + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.808788 ms (missed cycles : 5). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.808788 ms (missed cycles : 5).[0m ×2 + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681885 ms (missed cycles : 3). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681885 ms (missed cycles : 3).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162450 ms (missed cycles : 3). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162450 ms (missed cycles : 3).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216620 ms (missed cycles : 2). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216620 ms (missed cycles : 2).[0m ×2 + 46.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.012ms + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053661 ms (missed cycles : 2). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053661 ms (missed cycles : 2).[0m ×2 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296411 ms (missed cycles : 5). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296411 ms (missed cycles : 5).[0m ×2 + 48.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574038 ms (missed cycles : 2). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574038 ms (missed cycles : 2).[0m ×2 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592575 ms (missed cycles : 2). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592575 ms (missed cycles : 2).[0m ×2 + 50.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051942 ms (missed cycles : 3). + 50.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051942 ms (missed cycles : 3).[0m ×2 + 51.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414047 ms (missed cycles : 4). + 51.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414047 ms (missed cycles : 4).[0m ×2 + 52.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885554 ms (missed cycles : 2). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885554 ms (missed cycles : 2).[0m ×2 + 53.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174448 ms (missed cycles : 5). + 53.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174448 ms (missed cycles : 5).[0m ×2 + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768106 ms (missed cycles : 3). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768106 ms (missed cycles : 3).[0m ×2 + 55.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 56.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399466 ms (missed cycles : 3). + 56.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399466 ms (missed cycles : 3).[0m ×2 + 57.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3). + 57.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3).[0m ×2 + 58.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3). + 58.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3).[0m ×2 + 59.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4). + 59.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4).[0m ×2 + 59.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 59.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789759170.08157206 seconds ×3 + 59.95sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.95sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3). + 60.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3).[0m ×2 + 60.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.43sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789759170.67807412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.373ms + 60.86sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 61.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4). + 61.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4).[0m ×2 + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2).[0m ×2 + 63.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3). + 63.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.1s	195 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992422 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992422 ms (missed cycles : 2).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.343ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626881 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626881 ms (missed cycles : 2).[0m ×2 + 8.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.324ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020864 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020864 ms (missed cycles : 2).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.351ms + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.050ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024152 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024152 ms (missed cycles : 2).[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.327ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399539 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399539 ms (missed cycles : 4).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406653 ms (missed cycles : 4). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406653 ms (missed cycles : 4).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.006ms + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.976ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690366 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690366 ms (missed cycles : 3).[0m ×2 + 14.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.906ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649087 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649087 ms (missed cycles : 2).[0m ×2 + 15.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.612ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148092 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148092 ms (missed cycles : 4).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.077ms + 17.09sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 9.047ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084392 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084392 ms (missed cycles : 2).[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 6.782ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125164 ms (missed cycles : 4). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125164 ms (missed cycles : 4).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 4.980ms + 19.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805413 ms (missed cycles : 3). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805413 ms (missed cycles : 3).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 3.420ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216043 ms (missed cycles : 6). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216043 ms (missed cycles : 6).[0m ×2 + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.302ms + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614872 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614872 ms (missed cycles : 2).[0m ×2 + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728767 ms (missed cycles : 5). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728767 ms (missed cycles : 5).[0m ×2 + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003476 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003476 ms (missed cycles : 2).[0m ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723290 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723290 ms (missed cycles : 3).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448258 ms (missed cycles : 4). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448258 ms (missed cycles : 4).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.875ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101278 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101278 ms (missed cycles : 2).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863656 ms (missed cycles : 3). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863656 ms (missed cycles : 3).[0m ×2 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041072 ms (missed cycles : 4). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041072 ms (missed cycles : 4).[0m ×2 + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.402ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155013 ms (missed cycles : 4). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155013 ms (missed cycles : 4).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739659 ms (missed cycles : 3). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739659 ms (missed cycles : 3).[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 31.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 32.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039307 ms (missed cycles : 2). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039307 ms (missed cycles : 2).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460770 ms (missed cycles : 2). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460770 ms (missed cycles : 2).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495112 ms (missed cycles : 3). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495112 ms (missed cycles : 3).[0m ×2 + 34.19sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676636 ms (missed cycles : 2). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676636 ms (missed cycles : 2).[0m ×2 + 36.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.273ms + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119179 ms (missed cycles : 5). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119179 ms (missed cycles : 5).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593770 ms (missed cycles : 4). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593770 ms (missed cycles : 4).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431570 ms (missed cycles : 3). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431570 ms (missed cycles : 3).[0m ×2 + 38.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785775 ms (missed cycles : 2). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785775 ms (missed cycles : 2).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296057 ms (missed cycles : 4). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296057 ms (missed cycles : 4).[0m ×2 + 41.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136885 ms (missed cycles : 2). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136885 ms (missed cycles : 2).[0m ×2 + 41.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314158 ms (missed cycles : 3). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314158 ms (missed cycles : 3).[0m ×2 + 43.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254187 ms (missed cycles : 2). + 43.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254187 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517079 ms (missed cycles : 4). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517079 ms (missed cycles : 4).[0m ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872018 ms (missed cycles : 3). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872018 ms (missed cycles : 3).[0m ×2 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307286 ms (missed cycles : 4). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307286 ms (missed cycles : 4).[0m ×2 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333641 ms (missed cycles : 2). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333641 ms (missed cycles : 2).[0m ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033299 ms (missed cycles : 2). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033299 ms (missed cycles : 2).[0m ×2 + 50.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959688 ms (missed cycles : 3). + 50.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959688 ms (missed cycles : 3).[0m ×2 + 51.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178867 ms (missed cycles : 2). + 51.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178867 ms (missed cycles : 2).[0m ×2 + 52.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.392ms + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913528 ms (missed cycles : 3). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913528 ms (missed cycles : 3).[0m ×2 + 54.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953507 ms (missed cycles : 3). + 54.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953507 ms (missed cycles : 3).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 55.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277826 ms (missed cycles : 2). + 55.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277826 ms (missed cycles : 2).[0m ×2 + 56.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893705 ms (missed cycles : 3). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893705 ms (missed cycles : 3).[0m ×2 + 57.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735189 ms (missed cycles : 3). + 57.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735189 ms (missed cycles : 3).[0m ×2 + 58.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314272 ms (missed cycles : 4). + 58.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314272 ms (missed cycles : 4).[0m ×2 + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205141 ms (missed cycles : 2). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205141 ms (missed cycles : 2).[0m ×2 + 59.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789759400.77602005 seconds ×3 + 59.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 60.14sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.14sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.31sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789759401.37153220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837758 ms (missed cycles : 3). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837758 ms (missed cycles : 3).[0m ×2 + 60.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.598ms + 60.76sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 61.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210018 ms (missed cycles : 2). + 61.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210018 ms (missed cycles : 2).[0m ×2 + 62.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002809 ms (missed cycles : 4). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002809 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.4s	224 warnings · 226 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms ×2 + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789759209.21784520 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 3.920ms + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 10.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 10.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789759209.80320954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.689ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3).[0m ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025332 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025332 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657815 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657815 ms (missed cycles : 3).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.521ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987736 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987736 ms (missed cycles : 3).[0m ×2 + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.659ms + 10.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.276ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993266 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993266 ms (missed cycles : 2).[0m ×2 + 11.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 11.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 11.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.571ms + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997464 ms (missed cycles : 4). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997464 ms (missed cycles : 4).[0m ×2 + 12.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.193ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222725 ms (missed cycles : 5). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222725 ms (missed cycles : 5).[0m ×2 + 13.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.452ms + 13.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.022ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930575 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930575 ms (missed cycles : 3).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 14.70sWARNros2_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 ×8 + 14.74sINFOamclParticle filter update iteration stats: 4911 particles 723 points - 7.114ms + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229547 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229547 ms (missed cycles : 2).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 6.106ms + 15.77sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 3.642ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902101 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902101 ms (missed cycles : 3).[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799245 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799245 ms (missed cycles : 2).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390763 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390763 ms (missed cycles : 3).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.093ms + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525035 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525035 ms (missed cycles : 2).[0m ×2 + 19.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559976 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559976 ms (missed cycles : 3).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896483 ms (missed cycles : 3). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896483 ms (missed cycles : 3).[0m ×2 + 22.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 22.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179093 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179093 ms (missed cycles : 2).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450111 ms (missed cycles : 3). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450111 ms (missed cycles : 3).[0m ×2 + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839855 ms (missed cycles : 3). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839855 ms (missed cycles : 3).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.356ms + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256615 ms (missed cycles : 3). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256615 ms (missed cycles : 3).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893183 ms (missed cycles : 2). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893183 ms (missed cycles : 2).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518552 ms (missed cycles : 5). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518552 ms (missed cycles : 5).[0m ×2 + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640314 ms (missed cycles : 3). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640314 ms (missed cycles : 3).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 30.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569802 ms (missed cycles : 2). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569802 ms (missed cycles : 2).[0m ×2 + 30.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 31.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.545ms + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079130 ms (missed cycles : 2). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079130 ms (missed cycles : 2).[0m ×2 + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.585ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852812 ms (missed cycles : 3). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852812 ms (missed cycles : 3).[0m ×2 + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.652ms + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920526 ms (missed cycles : 2). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920526 ms (missed cycles : 2).[0m ×2 + 33.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981276 ms (missed cycles : 2). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981276 ms (missed cycles : 2).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220222 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220222 ms (missed cycles : 2).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504727 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504727 ms (missed cycles : 2).[0m ×2 + 37.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.11sINFOobjective_server_nodePlanning for 24 path waypoints. ×3 + 38.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889177 ms (missed cycles : 3). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889177 ms (missed cycles : 3).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158747 ms (missed cycles : 2). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158747 ms (missed cycles : 2).[0m ×2 + 39.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149553 ms (missed cycles : 2). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149553 ms (missed cycles : 2).[0m ×2 + 40.79sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.803ms + 41.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676027 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676027 ms (missed cycles : 3).[0m ×2 + 41.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 42.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619689 ms (missed cycles : 2). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619689 ms (missed cycles : 2).[0m ×2 + 42.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 43.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606736 ms (missed cycles : 3). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606736 ms (missed cycles : 3).[0m ×2 + 43.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105443 ms (missed cycles : 5). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105443 ms (missed cycles : 5).[0m ×2 + 45.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995142 ms (missed cycles : 3). + 45.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995142 ms (missed cycles : 3).[0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958017 ms (missed cycles : 4). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958017 ms (missed cycles : 4).[0m ×2 + 47.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.801ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899170 ms (missed cycles : 4). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899170 ms (missed cycles : 4).[0m ×2 + 48.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.045ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645379 ms (missed cycles : 4). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645379 ms (missed cycles : 4).[0m ×2 + 49.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920931 ms (missed cycles : 4). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920931 ms (missed cycles : 4).[0m ×2 + 50.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.267ms + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153473 ms (missed cycles : 5). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153473 ms (missed cycles : 5).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525238 ms (missed cycles : 2). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525238 ms (missed cycles : 2).[0m ×2 + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953617 ms (missed cycles : 3). + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953617 ms (missed cycles : 3).[0m ×2 + 53.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 54.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136018 ms (missed cycles : 2). + 54.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136018 ms (missed cycles : 2).[0m ×2 + 54.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 54.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789759260.65334630 seconds ×3 + 54.64sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 54.64sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 54.74sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.74sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789759261.24054050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461504 ms (missed cycles : 3). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461504 ms (missed cycles : 3).[0m ×2 + 55.52sINFOobjective_server_nodeFound path in 0 iterations (6.31e-07 s). ×2 + 56.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.171411 ms (missed cycles : 4). + 56.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.171411 ms (missed cycles : 4).[0m ×2 + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923492 ms (missed cycles : 2). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923492 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	141 warnings · 392 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.83sINFOobjective_server_nodecaller: ×12 + 0.83sINFOobjective_server_nodetype: 0 ×12 + 0.83sINFOobjective_server_nodename: "" ×12 + 0.83sINFOobjective_server_nodeinstance_id: "" ×12 + 0.83sINFOobjective_server_node ×12 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297461 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297461 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251909 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251909 ms (missed cycles : 2).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327041 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327041 ms (missed cycles : 2).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973562 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973562 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276379 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276379 ms (missed cycles : 3).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639380 ms (missed cycles : 2). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639380 ms (missed cycles : 2).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470359 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470359 ms (missed cycles : 3).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237932 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237932 ms (missed cycles : 2).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.805ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883269 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883269 ms (missed cycles : 3).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550764 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550764 ms (missed cycles : 2).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503847 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503847 ms (missed cycles : 2).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918923 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918923 ms (missed cycles : 2).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623968 ms (missed cycles : 3). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623968 ms (missed cycles : 3).[0m ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968189 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968189 ms (missed cycles : 2).[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886420 ms (missed cycles : 3). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886420 ms (missed cycles : 3).[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327446 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327446 ms (missed cycles : 3).[0m ×2 + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090414 ms (missed cycles : 2). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090414 ms (missed cycles : 2).[0m ×2 + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399583 ms (missed cycles : 3). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399583 ms (missed cycles : 3).[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132975 ms (missed cycles : 4). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132975 ms (missed cycles : 4).[0m ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363007 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363007 ms (missed cycles : 2).[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103544 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103544 ms (missed cycles : 2).[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960458 ms (missed cycles : 2). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960458 ms (missed cycles : 2).[0m ×2 + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011380 ms (missed cycles : 2). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011380 ms (missed cycles : 2).[0m ×2 + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988985 ms (missed cycles : 2). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988985 ms (missed cycles : 2).[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001691 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001691 ms (missed cycles : 2).[0m ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174500 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174500 ms (missed cycles : 2).[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954177 ms (missed cycles : 2). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954177 ms (missed cycles : 2).[0m ×2 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923422 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923422 ms (missed cycles : 2).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517208 ms (missed cycles : 2). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517208 ms (missed cycles : 2).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429208 ms (missed cycles : 3). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429208 ms (missed cycles : 3).[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569136 ms (missed cycles : 3). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569136 ms (missed cycles : 3).[0m ×2 + 40.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944800 ms (missed cycles : 2). + 40.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944800 ms (missed cycles : 2).[0m ×2 + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581144 ms (missed cycles : 3). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581144 ms (missed cycles : 3).[0m ×2 + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308896 ms (missed cycles : 2). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308896 ms (missed cycles : 2).[0m ×2 + 42.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2).[0m ×2 + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2).[0m ×2 + 46.37sINFOjoint_trajectory_controllerGoal reached, success! + 46.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789759106.86189032 seconds ×3 + 46.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2).[0m ×2 + 46.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.91sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789759107.43849039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4).[0m ×2 + 48.06sINFOobjective_server_nodeFound path in 0 iterations (3.4086e-05 s). ×2 + 48.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2).[0m ×2 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2).[0m ×2 + 49.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	150 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278854 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251238 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251238 ms (missed cycles : 2).[0m ×2 + 1.71sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.71sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.75sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789759176.48830247 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921490 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921490 ms (missed cycles : 3).[0m ×2 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031772 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031772 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789759178.06771708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995896 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995896 ms (missed cycles : 2).[0m ×2 + 4.20sWARNros2_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 ×6 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770531 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770531 ms (missed cycles : 3).[0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739396 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739396 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288323 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288323 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647711 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647711 ms (missed cycles : 3).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.038ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709214 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709214 ms (missed cycles : 3).[0m ×2 + 9.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 9.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.774ms + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.429ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.614ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776571 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776571 ms (missed cycles : 2).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.900ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.811ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796255 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796255 ms (missed cycles : 3).[0m ×2 + 11.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 12.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.383ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066947 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066947 ms (missed cycles : 4).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms + 13.43sINFOamclParticle filter update iteration stats: 4404 particles 723 points - 7.498ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360903 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360903 ms (missed cycles : 2).[0m ×2 + 13.92sINFOamclParticle filter update iteration stats: 3347 particles 723 points - 6.037ms + 14.44sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 4.546ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.891344 ms (missed cycles : 5). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.891344 ms (missed cycles : 5).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.266ms + 15.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.660ms + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898379 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898379 ms (missed cycles : 2).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 16.99sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329139 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329139 ms (missed cycles : 2).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404158 ms (missed cycles : 5). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404158 ms (missed cycles : 5).[0m ×2 + 18.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303664 ms (missed cycles : 4). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303664 ms (missed cycles : 4).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759346 ms (missed cycles : 5). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759346 ms (missed cycles : 5).[0m ×2 + 20.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734624 ms (missed cycles : 5). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734624 ms (missed cycles : 5).[0m ×2 + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496718 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496718 ms (missed cycles : 2).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690349 ms (missed cycles : 5). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690349 ms (missed cycles : 5).[0m ×2 + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167628 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167628 ms (missed cycles : 2).[0m ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252145 ms (missed cycles : 4). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252145 ms (missed cycles : 4).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.381ms + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617172 ms (missed cycles : 3). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617172 ms (missed cycles : 3).[0m ×2 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920571 ms (missed cycles : 2). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920571 ms (missed cycles : 2).[0m ×2 + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560915 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560915 ms (missed cycles : 3).[0m ×2 + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 30.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447374 ms (missed cycles : 5). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447374 ms (missed cycles : 5).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3).[0m ×2 + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3).[0m ×2 + 32.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3).[0m ×2 + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 34.48sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789759209.21784520 seconds ×3 + 34.52sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.52sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4).[0m ×2 + 35.01sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 3.920ms + 35.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 10.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 10.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789759209.80320954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.45sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 35.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.689ms + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	88 warnings · 243 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735189 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735189 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314272 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314272 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205141 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205141 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.51sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.54sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789759400.77602005 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789759401.37153220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837758 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837758 ms (missed cycles : 3).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.598ms + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210018 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210018 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002809 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002809 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170446 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170446 ms (missed cycles : 2).[0m ×2 + 6.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108877 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108877 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906651 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906651 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318383 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318383 ms (missed cycles : 3).[0m ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 9.73sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 10.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288177 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288177 ms (missed cycles : 2).[0m ×2 + 10.69sINFOobjective_server_nodeFound path in 33 iterations (0.0349418 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371955 ms (missed cycles : 5). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371955 ms (missed cycles : 5).[0m ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (1.67e-07 s). ×2 + 12.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807179 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807179 ms (missed cycles : 2).[0m ×2 + 12.59sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.84sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055985 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055985 ms (missed cycles : 2).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.745ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409565 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409565 ms (missed cycles : 3).[0m ×2 + 15.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.934ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187228 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187228 ms (missed cycles : 3).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.694ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.682ms + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2).[0m ×2 + 18.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789759417.06519008 seconds ×3 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3).[0m ×2 + 19.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789759417.68998218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.45sINFOmove_groupClearing octomap...[0m ×2 + 19.45sINFOmove_groupOctomap cleared.[0m ×2 + 19.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.906ms + 20.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789759418.39010644 seconds ×3 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2).[0m ×2 + 20.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789759418.97132134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3).[0m ×2 + 21.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 21.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789759419.94145584 seconds ×3 + 21.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	98 errors · 32 warnings · 515 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.694ms + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3).[0m ×2 + 0.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.682ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2).[0m ×2 + 1.90sINFOjoint_trajectory_controllerGoal reached, success! + 1.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789759417.06519008 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789759417.68998218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.54sINFOmove_groupClearing octomap...[0m ×2 + 2.55sINFOmove_groupOctomap cleared.[0m ×2 + 2.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.906ms + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789759418.39010644 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789759418.97132134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3).[0m ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789759419.94145584 seconds ×3 + 4.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358343 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358343 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574062 ms (missed cycles : 4). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574062 ms (missed cycles : 4).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799952 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799952 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105291 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105291 ms (missed cycles : 2).[0m ×2 + 10.45sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.48sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORweb_video_auth_proxy-37process has died [pid 7795, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.48sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.50sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge_auth_proxy-36process has died [pid 7794, 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 + 10.50sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.51sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.52sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.53sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.54sINFOvideo_server-35process has finished cleanly [pid 7793] ×2 + 10.54sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.55sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.56sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.57sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.58sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.59sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.60sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.61sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.62sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.64sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.64sINFOcontroller_managerShutdown request received.... + 10.64sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.64sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.64sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.64sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.64sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.64sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.64sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.64sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.64sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.64sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.64sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.64sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.64sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.64sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.64sINFOcontroller_managerShutting down the controller manager. + 10.65sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.66sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.68sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.68sERRORmove_group-23process has died [pid 7750, 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__t08kndp --params-file /tmp/launch_params_4yltxwui --params-file /tmp/launch_params_xp4qs2af --params-file /tmp/launch_params_zz1zkix_ --params-file /tmp/launch_params_8177es6u --params-file /tmp/launch_params_3w44nlev']. ×2 + 10.69sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.69sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.70sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.70sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.71sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.72sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.73sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.73sINFOmap_serverDeactivating + 10.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.74sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.74sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.74sINFOcontroller_serverDeactivating + 10.74sINFOlocal_costmap.local_costmapDeactivating + 10.74sINFOvideo_server2026/09/18 19:23:45 INF shutting down gracefully ×2 + 10.74sINFOvideo_server2026/09/18 19:23:45 INF [WebRTC] closing ×2 + 10.74sINFOvideo_server2026/09/18 19:23:45 INF [RTSP] closing ×2 + 10.74sINFOvideo_server2026/09/18 19:23:45 INF waiting for running hooks ×2 + 10.74sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.74sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.74sINFOmap_serverCleaning up + 10.74sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.74sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.74sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.74sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.74sERRORmove_groupStack trace (most recent call last) in thread 8396: ×2 + 10.74sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.74sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f706a32ca63, in __clone ×2 + 10.74sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f706a29faa3, in ×2 + 10.74sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f706a531db3, in ×2 + 10.74sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f706ac95b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.74sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f706a8c3620, in rclcpp::Rate::sleep() ×2 + 10.74sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f706a805d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.74sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f706a7c7087, in ×2 + 10.74sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.74sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.74sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.74sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f706a500390, in __cxa_throw ×2 + 10.74sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f706a4eaa54, in std::terminate() ×2 + 10.74sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f706a5000d9, in ×2 + 10.74sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f706a4eaff4, in ×2 + 10.74sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f706a22b8fe, in abort ×2 + 10.74sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f706a24827d, in raise ×2 + 10.74sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f706a2a1b2c, in pthread_kill ×2 + 10.74sERRORmove_groupAborted (Signal sent by tkill() 7750 0) ×2 + 10.74sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.75sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.75sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.75sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.75sINFOodom_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 + 10.75sINFOodom_qos_relay.pymain() ×2 + 10.75sINFOodom_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 + 10.75sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.75sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.75sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.75sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.75sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.75sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.75sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.76sERRORamclThe bond connection to the lifecycle manager has been broken + 10.81sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.82sINFOcontroller_serverCleaning up + 10.82sINFOlocal_costmap.local_costmapCleaning up + 10.85sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.85sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.86sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.86sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.86sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.86sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.86sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.86sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.86sINFOvelocity_smootherDeactivating + 10.86sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.86sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.86sINFOsmoother_serverDeactivating + 10.86sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.87sINFOsmoother_serverCleaning up + 10.89sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.89sINFOplanner_serverDeactivating + 10.89sINFOglobal_costmap.global_costmapDeactivating + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.98sINFOwaypoint_followerDeactivating + 10.98sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.09sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.09sINFObt_navigatorDeactivating + 11.09sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.20sINFObehavior_serverDeactivating + 11.20sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.32sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.32sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.32sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.32sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.32sINFOvelocity_smootherCleaning up + 11.32sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.32sINFOwaypoint_followerCleaning up + 11.35sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.35sINFObt_navigatorCleaning up + 11.53sINFObt_navigatorCompleted Cleaning up + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.53sINFObehavior_serverCleaning up + 11.58sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7792] ×2 + 11.58sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.59sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.59sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.59sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.63sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.63sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.64sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7785] ×2 + 11.64sINFOplanner_serverCleaning up + 11.65sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7784] ×2 + 11.65sINFOglobal_costmap.global_costmapCleaning up + 11.65sINFOui_teleop_bridge-32process has finished cleanly [pid 7790] ×2 + 11.66sINFOexecute_objective_bridge-31process has finished cleanly [pid 7789] ×2 + 11.66sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.66sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.68sINFOparameter_manager_node-24process has finished cleanly [pid 7754] ×2 + 11.70sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.70sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.70sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.70sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.70sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.70sINFOwaypoint_manager_node-25process has finished cleanly [pid 7783] ×2 + 11.70sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7729] ×2 + 11.72sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7636] ×2 + 11.72sINFOstatic_transform_publisher-8process has finished cleanly [pid 7635] ×2 + 11.73sINFOstatic_transform_publisher-7process has finished cleanly [pid 7634] ×2 + 11.74sINFOcomponent_container_mt-30process has finished cleanly [pid 7788] ×2 + 11.74sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.74sINFOlidar_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 + 11.74sINFOlidar_flattener.pymain() ×2 + 11.74sINFOlidar_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 + 11.74sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.74sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.74sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.74sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.74sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.74sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.74sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.74sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.74sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.76sINFOstatic_transform_publisher-4process has finished cleanly [pid 7631] ×2 + 11.77sINFOstatic_transform_publisher-3process has finished cleanly [pid 7630] ×2 + 11.79sINFOcomponent_container_mt-29process has finished cleanly [pid 7787] ×2 + 11.79sINFOobjective_server_node[2026-09-18 19:23:46.940] [moveit_pro_license] [info] ×2 + 11.79sINFOobjective_server_node************************************************* ×4 + 11.79sINFOobjective_server_node* MoveIt Pro License ×2 + 11.79sINFOobjective_server_node* Application has successfully terminated ×2 + 11.80sERRORlidar_flattener.py-6process has died [pid 7633, 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__p_0teok']. ×2 + 11.80sERRORodom_qos_relay.py-5process has died [pid 7632, 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 + 11.86sINFOobjective_server_node_main-28process has finished cleanly [pid 7786] ×2 + 11.86sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 12.03sERRORcomponent_container_isolated-1process has died [pid 7628, 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_ehqs47aj --params-file /tmp/launch_params_kzz2imm5 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.07sERRORcomponent_container_isolated-2process has died [pid 7629, 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_ehqs47aj --params-file /tmp/launch_params_sjechnbt -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.36sINFOros2_control_node-11process has finished cleanly [pid 7730] ×2 + 13.50sINFOweb_bridge-33process has finished cleanly [pid 7791] ×2 + 13.51sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 83 warnings · 155 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525238 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525238 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953617 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953617 ms (missed cycles : 3).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136018 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136018 ms (missed cycles : 2).[0m ×2 + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789759260.65334630 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789759261.24054050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461504 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461504 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (6.31e-07 s). ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.171411 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.171411 ms (missed cycles : 4).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923492 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923492 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607626 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607626 ms (missed cycles : 3).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735814 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735814 ms (missed cycles : 3).[0m ×2 + 8.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.583ms + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338450 ms (missed cycles : 4). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338450 ms (missed cycles : 4).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.734ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133153 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133153 ms (missed cycles : 2).[0m ×2 + 10.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.160ms + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.675ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687016 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687016 ms (missed cycles : 3).[0m ×2 + 11.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.115ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951777 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951777 ms (missed cycles : 3).[0m ×2 + 12.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.109ms + 13.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.908ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148023 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148023 ms (missed cycles : 2).[0m ×2 + 13.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.891ms + 13.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOjoint_trajectory_controllerGot request to cancel goal + 13.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789759271.68293142 seconds ×3 + 13.96sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.96sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323233 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323233 ms (missed cycles : 2).[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789759272.26666498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.347ms + 14.86sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172357 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172357 ms (missed cycles : 2).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151149 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151149 ms (missed cycles : 2).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768494 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768494 ms (missed cycles : 2).[0m ×2 + 17.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	64 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.63sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789759170.08157206 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789759170.67807412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.373ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278854 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278854 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251238 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251238 ms (missed cycles : 2).[0m ×2 + 9.06sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789759176.48830247 seconds ×3 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921490 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921490 ms (missed cycles : 3).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031772 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031772 ms (missed cycles : 3).[0m ×2 + 10.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789759178.06771708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 11.08sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995896 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995896 ms (missed cycles : 2).[0m ×2 + 11.51sWARNros2_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 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770531 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770531 ms (missed cycles : 3).[0m ×2 + 12.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739396 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739396 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	55 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740219 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740219 ms (missed cycles : 4).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472739 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472739 ms (missed cycles : 3).[0m ×2 + 1.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659236 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659236 ms (missed cycles : 3).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789759337.26684737 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221317 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789759337.84527969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.061ms + 3.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936150 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936150 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153193 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153193 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 9.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 9.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 12.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	36 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789759106.86189032 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789759107.43849039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.4086e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 7.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 7.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340068 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340068 ms (missed cycles : 2).[0m ×2 + 7.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 8.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439922 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439922 ms (missed cycles : 2).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 9.31sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789759112.99864554 seconds ×3 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159721 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159721 ms (missed cycles : 2).[0m ×2 + 9.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.85sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789759113.58143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.96sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.416ms + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759417 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759417 ms (missed cycles : 3).[0m ×2 + 12.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	26 warnings · 121 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.934ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187228 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187228 ms (missed cycles : 3).[0m ×2 + 0.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.694ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.682ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789759417.06519008 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789759417.68998218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.49sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.906ms + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789759418.39010644 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789759418.97132134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789759419.94145584 seconds ×3 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358343 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358343 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.83sINFOobjective_server_nodecaller: ×10 + 0.83sINFOobjective_server_nodetype: 0 ×10 + 0.83sINFOobjective_server_nodename: "" ×10 + 0.83sINFOobjective_server_nodeinstance_id: "" ×10 + 0.83sINFOobjective_server_node ×10 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.81sINFOjoint_trajectory_controllerReceived new action goal + 4.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789759106.86189032 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789759107.43849039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.4086e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698234 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064760 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176105 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789759106.86189032 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587776 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789759107.43849039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.146ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379250 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.4086e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331476 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 76 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676055 ms (missed cycles : 2).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340068 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340068 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439922 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439922 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789759112.99864554 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_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 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_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 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159721 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159721 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 `Generate Grid Pattern on Airplane` starting at time: 1789759113.58143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.416ms + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824113 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759417 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759417 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789759170.08157206 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789759170.67807412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.373ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789759170.08157206 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789759170.67807412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.373ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789759170.08157206 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789759170.67807412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.373ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789759170.08157206 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789759170.67807412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.373ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802848 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527881 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976723 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789759170.08157206 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708526 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789759170.67807412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.373ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034773 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741348 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128171 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	43 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789759209.21784520 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 3.920ms + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 10.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 10.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789759209.80320954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.689ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3).[0m ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	43 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789759209.21784520 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 3.920ms + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 10.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 10.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789759209.80320954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.689ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3).[0m ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	43 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432641 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320946 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755619 ms (missed cycles : 3).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789759209.21784520 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187919 ms (missed cycles : 4).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 3.920ms + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 10.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 10.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789759209.80320954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.689ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503268 ms (missed cycles : 4).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125267 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326078 ms (missed cycles : 3).[0m ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912830 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780610 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002705 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789759343.70540977 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424266 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789759344.28590298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957395 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442884 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555329 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	23 warnings · 121 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.934ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187228 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187228 ms (missed cycles : 3).[0m ×2 + 0.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.694ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977543 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.682ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121083 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789759417.06519008 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601513 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789759417.68998218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.49sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.906ms + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789759418.39010644 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739040 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789759418.97132134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446404 ms (missed cycles : 3).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789759419.94145584 seconds ×3 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899272 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 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 · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[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
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 1.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.91sINFOobjective_server_nodecaller: ×10 + 1.91sINFOobjective_server_nodetype: 0 ×10 + 1.91sINFOobjective_server_nodename: "" ×10 + 1.91sINFOobjective_server_nodeinstance_id: "" ×10 + 1.91sINFOobjective_server_node ×10 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.95sINFOmove_groupClearing octomap...[0m ×4 + 1.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.95sINFOmove_groupOctomap cleared.[0m ×4 + 1.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.95sINFOjoint_trajectory_controllerReceived new action goal + 6.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.95sINFOjoint_trajectory_controllerAccepted new action goal + 6.95sINFOros2_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 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	21 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345802 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 1.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.00sINFOmove_groupClearing octomap...[0m ×4 + 3.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×4 + 3.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	18 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065631 ms (missed cycles : 2).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 1.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.91sINFOobjective_server_nodecaller: ×10 + 1.91sINFOobjective_server_nodetype: 0 ×10 + 1.91sINFOobjective_server_nodename: "" ×10 + 1.91sINFOobjective_server_nodeinstance_id: "" ×10 + 1.91sINFOobjective_server_node ×10 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.95sINFOmove_groupClearing octomap...[0m ×4 + 1.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.95sINFOmove_groupOctomap cleared.[0m ×4 + 1.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 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 · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[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 · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563590 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789759061.35324907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.31sINFOmove_groupClearing octomap...[0m ×4 + 1.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.31sINFOmove_groupOctomap cleared.[0m ×4 + 1.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789759061.36348033 seconds ×3 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816071 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789759061.93716502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789759061.94727993 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789759062.52154946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423915 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789759062.67208481 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789759063.27766824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789759063.34778666 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403543 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.85sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789759063.93535042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526513 ms (missed cycles : 3).[0m ×2