[INFO] [rtabmap-12]: process started with pid [1471] [INFO] [rtabmap_viz-13]: process started with pid [1473] [rviz2-4] [INFO] [1746798267.772247400] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-4] [INFO] [1746798267.791314505] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rtabmap-12] [INFO] [1746798269.899080378] [rtabmap]: rtabmap(maps): latch = true [rtabmap-12] [INFO] [1746798269.900481785] [rtabmap]: rtabmap(maps): map_filter_radius = 0.000000 [rtabmap-12] [INFO] [1746798269.900573586] [rtabmap]: rtabmap(maps): map_filter_angle = 30.000000 [rtabmap-12] [INFO] [1746798269.900806387] [rtabmap]: rtabmap(maps): map_cleanup = true [rtabmap-12] [INFO] [1746798269.900954688] [rtabmap]: rtabmap(maps): map_always_update = false [rtabmap-12] [INFO] [1746798269.900981788] [rtabmap]: rtabmap(maps): map_empty_ray_tracing = true [rtabmap-12] [INFO] [1746798269.900998588] [rtabmap]: rtabmap(maps): cloud_output_voxelized = true [rtabmap-12] [INFO] [1746798269.901023188] [rtabmap]: rtabmap(maps): cloud_subtract_filtering = false [rtabmap-12] [INFO] [1746798269.901039088] [rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [rtabmap-12] [INFO] [1746798269.901129389] [rtabmap]: rtabmap(maps): octomap_tree_depth = 16 [rviz2-4] [INFO] [1746798270.009961279] [interactive_marker_display_94588827436448]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rtabmap_viz-13] [INFO] [1746798270.120359667] [rtabmap_viz]: rtabmap_viz: Using configuration from "/home/tommaso/.ros/rtabmapGUI.ini" [rtabmap-12] [INFO] [1746798270.203188983] [rtabmap]: rtabmap: frame_id = base_link [rtabmap-12] [INFO] [1746798270.203257183] [rtabmap]: rtabmap: odom_frame_id = base_link [rtabmap-12] [INFO] [1746798270.203276483] [rtabmap]: rtabmap: map_frame_id = map [rtabmap-12] [INFO] [1746798270.203295283] [rtabmap]: rtabmap: log_to_rosout_level = 4 [rtabmap-12] [INFO] [1746798270.203309983] [rtabmap]: rtabmap: initial_pose = [rtabmap-12] [INFO] [1746798270.203324383] [rtabmap]: rtabmap: use_action_for_goal = false [rtabmap-12] [INFO] [1746798270.203375583] [rtabmap]: rtabmap: tf_delay = 0.050000 [rtabmap-12] [INFO] [1746798270.203410483] [rtabmap]: rtabmap: tf_tolerance = 0.100000 [rtabmap-12] [INFO] [1746798270.203428883] [rtabmap]: rtabmap: odom_sensor_sync = false [rtabmap-12] [INFO] [1746798270.203442083] [rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false [rtabmap-12] [INFO] [1746798270.203467083] [rtabmap]: rtabmap: wait_for_transform = 0.300000 [rtabmap-12] [INFO] [1746798270.203497383] [rtabmap]: rtabmap: gen_scan = false [rtabmap-12] [INFO] [1746798270.203522883] [rtabmap]: rtabmap: gen_depth = false [rtabmap-12] [INFO] [1746798270.384935499] [rtabmap]: Setting RTAB-Map parameter "Grid/3D"="true" [rtabmap-12] [INFO] [1746798270.398876384] [rtabmap]: Setting RTAB-Map parameter "Grid/RayTracing"="true" [rtabmap-12] [INFO] [1746798270.443020540] [rtabmap]: Setting RTAB-Map parameter "Kp/MaxFeatures"="-1" [rtabmap-12] [INFO] [1746798270.459219223] [rtabmap]: Setting RTAB-Map parameter "Mem/DepthCompressionFormat"=".png" [rtabmap-12] [INFO] [1746798270.463403619] [rtabmap]: Setting RTAB-Map parameter "Mem/ImagePreDecimation"="2" [rtabmap-12] [INFO] [1746798270.466547616] [rtabmap]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [rtabmap-12] [INFO] [1746798270.511637970] [rtabmap]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.05" [rtabmap-12] [INFO] [1746798270.516074365] [rtabmap]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.05" [rtabmap-12] [INFO] [1746798270.531538650] [rtabmap]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true" [rtabmap-12] [INFO] [1746798270.532860148] [rtabmap]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="3.0" [rtabmap-12] [INFO] [1746798270.553223128] [rtabmap]: Setting RTAB-Map parameter "Reg/Force3DoF"="false" [rtabmap-12] [INFO] [1746798270.554645726] [rtabmap]: Setting RTAB-Map parameter "Reg/Strategy"="1" [rviz2-4] [INFO] [1746798270.612542168] [interactive_marker_display_94588827436448]: Sending request for interactive markers [rtabmap-12] [INFO] [1746798270.708840870] [rtabmap]: Setting RTAB-Map parameter "Vis/MinInliers"="15" [rtabmap-12] [INFO] [1746798270.724808254] [rtabmap]: RTAB-Map detection rate = 1.000000 Hz [rtabmap-12] [INFO] [1746798270.733929244] [rtabmap]: rtabmap: Deleted database "/home/tommaso/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [rtabmap-12] [INFO] [1746798270.734927243] [rtabmap]: rtabmap: Using database from "/home/tommaso/.ros/rtabmap.db" (0 MB). [rviz2-4] [INFO] [1746798270.759439918] [interactive_marker_display_94588827436448]: Service response received for initialization [rviz2-4] [INFO] [1746798270.950593424] [moveit_ros_visualization.motion_planning_frame]: group niryo_arm [rviz2-4] [INFO] [1746798270.950693024] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'niryo_arm' in namespace '' [rviz2-4] [INFO] [1746798271.152392111] [move_group_interface]: Ready to take commands for planning group niryo_arm. [rviz2-4] [INFO] [1746798271.520726516] [moveit_ros_visualization.motion_planning_frame]: group niryo_arm [rtabmap-12] [INFO] [1746798272.997684675] [rtabmap]: rtabmap: Database version = "0.21.10". [rtabmap-12] [INFO] [1746798272.997834675] [rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [rtabmap-12] [INFO] [1746798273.215669617] [rtabmap]: Setup callbacks [rtabmap-12] [INFO] [1746798273.222005010] [rtabmap]: rtabmap: subscribe_depth = true [rtabmap-12] [INFO] [1746798273.222166810] [rtabmap]: rtabmap: subscribe_rgb = true [rtabmap-12] [INFO] [1746798273.222195410] [rtabmap]: rtabmap: subscribe_stereo = false [rtabmap-12] [INFO] [1746798273.222215709] [rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [rtabmap-12] [INFO] [1746798273.222235709] [rtabmap]: rtabmap: subscribe_sensor_data = false [rtabmap-12] [INFO] [1746798273.222270509] [rtabmap]: rtabmap: subscribe_odom_info = false [rtabmap-12] [INFO] [1746798273.222380609] [rtabmap]: rtabmap: subscribe_user_data = false [rtabmap-12] [INFO] [1746798273.222415909] [rtabmap]: rtabmap: subscribe_scan = false [rtabmap-12] [INFO] [1746798273.222435109] [rtabmap]: rtabmap: subscribe_scan_cloud = false [rtabmap-12] [INFO] [1746798273.222450209] [rtabmap]: rtabmap: subscribe_scan_descriptor = false [rtabmap-12] [INFO] [1746798273.222466109] [rtabmap]: rtabmap: topic_queue_size = 10 [rtabmap-12] [INFO] [1746798273.222483409] [rtabmap]: rtabmap: sync_queue_size = 30 [rtabmap-12] [INFO] [1746798273.222500109] [rtabmap]: rtabmap: qos_image = 0 [rtabmap-12] [INFO] [1746798273.222515609] [rtabmap]: rtabmap: qos_camera_info = 0 [rtabmap-12] [INFO] [1746798273.222532209] [rtabmap]: rtabmap: qos_scan = 0 [rtabmap-12] [INFO] [1746798273.222549309] [rtabmap]: rtabmap: qos_odom = 0 [rtabmap-12] [INFO] [1746798273.222564709] [rtabmap]: rtabmap: qos_user_data = 0 [rtabmap-12] [INFO] [1746798273.222579009] [rtabmap]: rtabmap: approx_sync = true [rtabmap-12] [INFO] [1746798273.224013807] [rtabmap]: Setup depth callback [rtabmap-12] [INFO] [1746798273.287683232] [rtabmap]: [rtabmap-12] rtabmap subscribed to (approx sync): [rtabmap-12] /gazebo_depth_camera/image_raw \ [rtabmap-12] /gazebo_depth_camera/depth/image_raw \ [rtabmap-12] /gazebo_depth_camera/camera_info [move_group-7] [INFO] [1746798273.848717366] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 370.825 for reason 'discarding message because the queue is full' [move_group-7] [INFO] [1746798273.872285238] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 370.925 for reason 'discarding message because the queue is full' [move_group-7] [INFO] [1746798273.878164631] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 371.027 for reason 'discarding message because the queue is full' [move_group-7] [INFO] [1746798273.885662022] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 371.125 for reason 'discarding message because the queue is full' [rtabmap_viz-13] libpng warning: iCCP: known incorrect sRGB profile [rtabmap_viz-13] libpng warning: iCCP: known incorrect sRGB profile [rtabmap_viz-13] libpng warning: iCCP: known incorrect sRGB profile [rtabmap_viz-13] [WARN] [1746798276.450727281] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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. [rtabmap_viz-13] [INFO] [1746798276.575616231] [rtabmap_viz]: Reading parameters from the ROS server... [rtabmap-12] [INFO] [1746798276.786549815] [rtabmap]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0175s, RTAB-Map=2.9141s, Maps update=0.0003s pub=0.0001s delay=1.4180s (local map=1, WM=1) [rtabmap_viz-13] [INFO] [1746798277.245769687] [rtabmap_viz]: Parameters read = 386 [rtabmap_viz-13] [INFO] [1746798277.245890187] [rtabmap_viz]: Parameters successfully read. [rtabmap_viz-13] [INFO] [1746798279.140727781] [rtabmap_viz]: rtabmap_viz: subscribe_depth = true [rtabmap_viz-13] [INFO] [1746798279.140926981] [rtabmap_viz]: rtabmap_viz: subscribe_rgb = false [rtabmap_viz-13] [INFO] [1746798279.140946681] [rtabmap_viz]: rtabmap_viz: subscribe_stereo = false [rtabmap_viz-13] [INFO] [1746798279.141112481] [rtabmap_viz]: rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1) [rtabmap_viz-13] [INFO] [1746798279.141132081] [rtabmap_viz]: rtabmap_viz: subscribe_sensor_data = false [rtabmap_viz-13] [INFO] [1746798279.141147181] [rtabmap_viz]: rtabmap_viz: subscribe_odom_info = false [rtabmap_viz-13] [INFO] [1746798279.141162881] [rtabmap_viz]: rtabmap_viz: subscribe_user_data = false [rtabmap_viz-13] [INFO] [1746798279.141176681] [rtabmap_viz]: rtabmap_viz: subscribe_scan = false [rtabmap_viz-13] [INFO] [1746798279.141190181] [rtabmap_viz]: rtabmap_viz: subscribe_scan_cloud = false [rtabmap_viz-13] [INFO] [1746798279.141199981] [rtabmap_viz]: rtabmap_viz: subscribe_scan_descriptor = false [rtabmap_viz-13] [INFO] [1746798279.141210981] [rtabmap_viz]: rtabmap_viz: topic_queue_size = 10 [rtabmap_viz-13] [INFO] [1746798279.141232581] [rtabmap_viz]: rtabmap_viz: sync_queue_size = 10 [rtabmap_viz-13] [INFO] [1746798279.141246281] [rtabmap_viz]: rtabmap_viz: qos_image = 0 [rtabmap_viz-13] [INFO] [1746798279.141258281] [rtabmap_viz]: rtabmap_viz: qos_camera_info = 0 [rtabmap_viz-13] [INFO] [1746798279.141269681] [rtabmap_viz]: rtabmap_viz: qos_scan = 0 [rtabmap_viz-13] [INFO] [1746798279.141278981] [rtabmap_viz]: rtabmap_viz: qos_odom = 0 [rtabmap_viz-13] [INFO] [1746798279.141288881] [rtabmap_viz]: rtabmap_viz: qos_user_data = 0 [rtabmap_viz-13] [INFO] [1746798279.141297981] [rtabmap_viz]: rtabmap_viz: approx_sync = true [rtabmap_viz-13] [INFO] [1746798279.141346681] [rtabmap_viz]: Setup depth callback [rtabmap_viz-13] [INFO] [1746798279.211802198] [rtabmap_viz]: [rtabmap_viz-13] rtabmap_viz subscribed to (approx sync): [rtabmap_viz-13] /gazebo_depth_camera/image_raw \ [rtabmap_viz-13] /gazebo_depth_camera/depth/image_raw \ [rtabmap_viz-13] /gazebo_depth_camera/camera_info [rtabmap_viz-13] [INFO] [1746798279.234277403] [rtabmap_viz]: rtabmap_viz started. [rtabmap-12] [INFO] [1746798279.234882504] [rtabmap]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0076s, RTAB-Map=2.2296s, Maps update=0.0028s pub=0.0045s delay=1.5090s (local map=1, WM=1) [...] [rtabmap-12] [INFO] [1746798291.917304334] [rtabmap]: rtabmap (6): Rate=1.00s, Limit=0.000s, Conversion=0.0042s, RTAB-Map=2.3154s, Maps update=0.0001s pub=0.0018s delay=1.4710s (local map=1, WM=1) [move_group-7] [INFO] [1746798293.166201098] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 371.225 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [move_group-7] [INFO] [1746798293.413079292] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 371.325 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [move_group-7] [INFO] [1746798293.660100886] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 371.429 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [move_group-7] [INFO] [1746798293.756710697] [move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 371.528 for reason 'the timestamp on the message is earlier than all the data in the transform cache' [rtabmap-12] [INFO] [1746798296.658094078] [rtabmap]: rtabmap (7): Rate=1.00s, Limit=0.000s, Conversion=0.0235s, RTAB-Map=2.3630s, Maps update=0.0001s pub=0.0021s delay=2.1100s (local map=1, WM=1) [...] [rtabmap-12] [INFO] [1746798355.298906047] [rtabmap]: rtabmap (28): Rate=1.00s, Limit=0.000s, Conversion=0.0005s, RTAB-Map=2.5647s, Maps update=0.0001s pub=0.0010s delay=1.4730s (local map=1, WM=1) [move_group-7] [INFO] [1746798357.035801176] [moveit_move_group_default_capabilities.move_action_capability]: Received request [move_group-7] [INFO] [1746798357.040371083] [moveit_move_group_default_capabilities.move_action_capability]: executing.. [rviz2-4] [INFO] [1746798357.041562984] [move_group_interface]: Plan and Execute request accepted [move_group-7] [INFO] [1746798357.044396089] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-7] [INFO] [1746798357.074665532] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-7] [INFO] [1746798357.076589135] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp' [rtabmap_viz-13] [ WARN] (2025-05-09 15:44:42.252) MainWindow.cpp:1976::processStats() Processing time (2.219973s) is over detection rate (1.000000s), real-time problem! [...] [rtabmap_viz-13] [ WARN] (2025-05-09 15:46:00.898) MainWindow.cpp:1976::processStats() Processing time (2.080851s) is over detection rate (1.000000s), real-time problem! [...] [rtabmap-12] [INFO] [1746798421.341204342] [rtabmap]: rtabmap (51): Rate=1.00s, Limit=0.000s, Conversion=0.0054s, RTAB-Map=2.8961s, Maps update=0.0003s pub=0.0108s delay=1.7320s (local map=1, WM=1) [move_group-7] [INFO] [1746798423.535815410] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline [move_group-7] [INFO] [1746798423.567683976] [chomp_optimizer]: Active collision detector is: HYBRID [rtabmap-12] [INFO] [1746798424.434679881] [rtabmap]: rtabmap (52): Rate=1.00s, Limit=0.000s, Conversion=0.0031s, RTAB-Map=3.0275s, Maps update=0.0001s pub=0.0018s delay=1.4900s (local map=1, WM=1) [rtabmap-12] [INFO] [1746798430.111746902] [rtabmap]: rtabmap (53): Rate=1.00s, Limit=0.000s, Conversion=0.0006s, RTAB-Map=3.7200s, Maps update=0.0001s pub=0.0016s delay=2.3010s (local map=1, WM=1) [rtabmap-12] [INFO] [1746798434.125908109] [rtabmap]: rtabmap (54): Rate=1.00s, Limit=0.000s, Conversion=0.1177s, RTAB-Map=3.4943s, Maps update=0.0012s pub=0.0138s delay=2.0950s (local map=1, WM=1) [rtabmap-12] [INFO] [1746798437.534759400] [rtabmap]: rtabmap (55): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=3.2927s, Maps update=0.0001s pub=0.0022s delay=1.6300s (local map=1, WM=1) [rtabmap-12] [INFO] [1746798439.915929081] [rtabmap]: rtabmap (56): Rate=1.00s, Limit=0.000s, Conversion=0.0006s, RTAB-Map=2.2890s, Maps update=0.0001s pub=0.0019s delay=1.3720s (local map=1, WM=1) [move_group-7] [INFO] [1746798440.662457812] [chomp_optimizer]: First coll check took 17.094200 sec [rtabmap-12] [INFO] [1746798442.827803725] [rtabmap]: rtabmap (57): Rate=1.00s, Limit=0.000s, Conversion=0.0008s, RTAB-Map=2.8672s, Maps update=0.0001s pub=0.0018s delay=1.9050s (local map=1, WM=1) [rtabmap-12] [INFO] [1746798445.995575777] [rtabmap]: rtabmap (58): Rate=1.00s, Limit=0.000s, Conversion=0.0005s, RTAB-Map=2.4805s, Maps update=0.0002s pub=0.0025s delay=1.3180s (local map=1, WM=1) [move_group-7] [INFO] [1746798446.315216840] [chomp_optimizer]: Collision cost 11.135014, smoothness cost: 20.954959 [move_group-7] [INFO] [1746798446.380123665] [chomp_optimizer]: iteration: 0 [move_group-7] [INFO] [1746798447.242907802] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early. [move_group-7] [INFO] [1746798447.244376221] [chomp_optimizer]: cCost 11.135014 over threshold 0.070000 [move_group-7] [INFO] [1746798447.250412697] [chomp_optimizer]: Chomp path is collision free [move_group-7] [INFO] [1746798447.253029530] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0 [move_group-7] [INFO] [1746798447.253086131] [chomp_optimizer]: Optimization core finished in 4.050022 sec [move_group-7] [INFO] [1746798447.253106431] [chomp_optimizer]: Time per iteration 4.050056 sec [move_group-7] [INFO] [1746798447.253128431] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1 [move_group-7] [INFO] [1746798447.253146831] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200 [move_group-7] [WARN] [1746798447.395626426] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml. [rtabmap-12] [INFO] [1746798448.297899857] [rtabmap]: rtabmap (59): Rate=1.00s, Limit=0.000s, Conversion=0.0122s, RTAB-Map=2.0224s, Maps update=0.0001s pub=0.0110s delay=1.2780s (local map=1, WM=1) [move_group-7] [INFO] [1746798450.654469022] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1746798450.658117266] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1746798450.675099474] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-7] [INFO] [1746798450.682399164] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-7] [INFO] [1746798450.683717180] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1746798450.684352888] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1746798450.705613349] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to niryo_arm_controller [gzserver-1] [INFO] [1746798450.756574274] [niryo_arm_controller]: Received new action goal [gzserver-1] [INFO] [1746798450.757861989] [niryo_arm_controller]: Accepted new action goal [move_group-7] [INFO] [1746798450.780851371] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: niryo_arm_controller started execution [move_group-7] [INFO] [1746798450.780991373] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [rtabmap-12] [INFO] [1746798450.899229323] [rtabmap]: rtabmap (60): Rate=1.00s, Limit=0.000s, Conversion=0.0005s, RTAB-Map=2.2644s, Maps update=0.0001s pub=0.0018s delay=1.3160s (local map=1, WM=1) [rtabmap_viz-13] [ WARN] (2025-05-09 15:46:06.444) MainWindow.cpp:1976::processStats() Processing time (2.443794s) is over detection rate (1.000000s), real-time problem! [...] [rtabmap_viz-13] [ WARN] (2025-05-09 15:47:28.326) MainWindow.cpp:1976::processStats() Processing time (2.017118s) is over detection rate (1.000000s), real-time problem! [gzserver-1] [INFO] [1746798462.702027412] [niryo_arm_controller]: Goal reached, success! [move_group-7] [INFO] [1746798462.725515110] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'niryo_arm_controller' successfully finished [move_group-7] [INFO] [1746798462.727606510] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-7] [INFO] [1746798462.745094909] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-4] [INFO] [1746798464.141817801] [move_group_interface]: Plan and Execute request complete! [rtabmap-12] [INFO] [1746798465.151464428] [rtabmap]: rtabmap (66): Rate=1.00s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=2.2429s, Maps update=0.0001s pub=0.0023s delay=1.5620s (local map=1, WM=1) [...] [rtabmap-12] [INFO] [1746798520.592789328] [rtabmap]: rtabmap (87): Rate=1.00s, Limit=0.000s, Conversion=0.0012s, RTAB-Map=2.0561s, Maps update=0.0001s pub=0.0018s delay=1.6470s (local map=1, WM=1) [rtabmap_viz-13] [ WARN] (2025-05-09 15:47:30.901) MainWindow.cpp:1976::processStats() Processing time (2.262827s) is over detection rate (1.000000s), real-time problem! [...] [rtabmap_viz-13] [ WARN] (2025-05-09 15:48:37.545) MainWindow.cpp:1976::processStats() Processing time (2.154196s) is over detection rate (1.000000s), real-time problem! [rtabmap-12] [INFO] [1746798522.868626043] [rtabmap]: rtabmap (88): Rate=1.00s, Limit=0.000s, Conversion=0.0213s, RTAB-Map=1.8933s, Maps update=0.0052s pub=0.0017s delay=1.4140s (local map=1, WM=1)