Motion Timeout

[GregHsr]

Find issue with motion time out

ros2 launch opossum_bringup bringup_simu.launch.py 
[INFO] [launch]: All log files can be found below /home/greg/.ros/log/2025-06-02-12-12-29-842337-Vivo-greg-5251
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [comm.py-1]: process started with pid [5252]
[INFO] [avoid_obstacle.py-2]: process started with pid [5254]
[INFO] [tf_broadcaster.py-3]: process started with pid [5256]
[INFO] [obstacle_extractor_node-4]: process started with pid [5258]
[INFO] [beacon_detector-5]: process started with pid [5260]
[INFO] [position_sender-6]: process started with pid [5262]
[INFO] [motor_simu.py-7]: process started with pid [5264]
[INFO] [zynq_simu.py-8]: process started with pid [5266]
[INFO] [lidar_simu.py-9]: process started with pid [5268]
[INFO] [dev_gui.py-10]: process started with pid [5270]
[INFO] [action_sequencer_node.py-11]: process started with pid [5272]
[INFO] [ihm_node.py-12]: process started with pid [5274]
[INFO] [parameters_server.py-13]: process started with pid [5276]
[beacon_detector-5] [WARN] [1748859150.132125241] [main_robot.beacon_detector_node]: ENABLE WAIT COLOR: true
[obstacle_extractor_node-4] [INFO] [1748859150.191629483] [main_robot.obstacle_extractor_node]: [Obstacle Extractor]: Initializing node
[obstacle_extractor_node-4] [INFO] [1748859150.209292807] [main_robot.obstacle_extractor_node]: Using LaserScan topic
[parameters_server.py-13] [INFO] [1748859150.627655026] [main_robot.param_server]: Parameters service is ready.
[ihm_node.py-12] [INFO] [1748859150.775755727] [main_robot.node_ihm]: Initializing IHM Node
[ihm_node.py-12] [INFO] [1748859150.776372929] [main_robot.node_ihm]: Setting up subscribers...
[action_sequencer_node.py-11] [INFO] [1748859150.931258759] [main_robot.action_sequencer_node]: Action Manager Node started
[lidar_simu.py-9] [INFO] [1748859151.058820735] [main_robot.lidar_simu_node]: Lidar simulation node initialized.
[comm.py-1] [INFO] [1748859151.065798069] [main_robot.comm_node]: Simu: True
[comm.py-1] [INFO] [1748859151.066418402] [main_robot.comm_node]: Communication node initialized.
[motor_simu.py-7] [INFO] [1748859151.078346332] [main_robot.motor_simu_node]: Nav simulation node initialized.
[position_sender-6] [INFO] [1748859151.081858232] [position_sender_node]: Position sender node initialized.
[parameters_server.py-13] [INFO] [1748859151.108543868] [main_robot.param_server]: Updated parameters: team_color=blue, script_number=0, debug_mode=False
[action_sequencer_node.py-11] [INFO] [1748859151.109909220] [main_robot.action_sequencer_node]: Choix du script : 0
[action_sequencer_node.py-11] [INFO] [1748859151.111309635] [main_robot.action_sequencer_node]: Debug mode disabled
[avoid_obstacle.py-2] [INFO] [1748859151.123271802] [main_robot.avoid_obstacle_node]: Avoid obstacle node initialized.
[zynq_simu.py-8] [INFO] [1748859151.135907239] [main_robot.zynq_simu_node]: ZYNQ simulation node initialized.
[dev_gui.py-10] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[dev_gui.py-10] [INFO] [1748859152.019776847] [dev_gui_node]: Orchestrator GUI node initialized.
[beacon_detector-5] [INFO] [1748859164.950008923] [main_robot.beacon_detector_node]: I received color yellow
[beacon_detector-5] [INFO] [1748859164.950699965] [main_robot.beacon_detector_node]: Initialized beacon_detector_node with color yellow.
[ihm_node.py-12] [INFO] [1748859164.954179706] [main_robot.node_ihm]: Color selected: yellow
[tf_broadcaster.py-3] [INFO] [1748859165.259135059] [tf_broadcaster_node]: TfBroadcaster node initialized.
[ihm_node.py-12] [INFO] [1748859186.921794577] [main_robot.node_ihm]: Script selected: 3
[action_sequencer_node.py-11] [INFO] [1748859186.953639183] [main_robot.action_sequencer_node]: Choix du script : 3
[parameters_server.py-13] [INFO] [1748859186.954887629] [main_robot.param_server]: Updated parameters: team_color=yellow, script_number=3, debug_mode=False
[action_sequencer_node.py-11] [INFO] [1748859187.027101463] [main_robot.action_sequencer_node]: Script 3
[action_sequencer_node.py-11] [INFO] [1748859187.033410813] [main_robot.action_sequencer_node]: Debug mode disabled
[action_sequencer_node.py-11] [INFO] [1748859201.275937407] [main_robot.action_sequencer_node]: Choix du script : 3
[action_sequencer_node.py-11] [INFO] [1748859201.279144600] [main_robot.action_sequencer_node]: Script 3
[action_sequencer_node.py-11] [INFO] [1748859201.287131284] [main_robot.action_sequencer_node]: Debug mode disabled
[parameters_server.py-13] [INFO] [1748859201.289471493] [main_robot.param_server]: Updated parameters: team_color=yellow, script_number=3, debug_mode=False
[action_sequencer_node.py-11] [INFO] [1748859216.294257074] [main_robot.action_sequencer_node]: Leash activated
[action_sequencer_node.py-11] [INFO] [1748859216.303128859] [main_robot.action_sequencer_node]: Script 3 is running...
[action_sequencer_node.py-11] [INFO] [1748859216.308698740] [main_robot.action_sequencer_node]: KALMAN OFF
[zynq_simu.py-8] [INFO] [1748859216.328469892] [main_robot.zynq_simu_node]: The name ENKALMAN does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859216.426135983] [main_robot.action_sequencer_node]: Sending raw command: VMAX 0.1
[action_sequencer_node.py-11] [WARN] [1748859219.515923797] [main_robot.action_sequencer_node]: Motion timed out.
[action_sequencer_node.py-11] [INFO] [1748859237.963965056] [main_robot.action_sequencer_node]: STEPPER : STEPPER1 3
[zynq_simu.py-8] [INFO] [1748859237.973450629] [main_robot.zynq_simu_node]: The name STEPPER1 does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859239.569334076] [main_robot.action_sequencer_node]: STEPPER : STEPPER1 1
[zynq_simu.py-8] [INFO] [1748859239.581575424] [main_robot.zynq_simu_node]: The name STEPPER1 does not exist in the YAML file com_msgs.
[ihm_node.py-12] [INFO] [1748859239.677073508] [main_robot.node_ihm]: Score received: 20
[ihm_node.py-12] [INFO] [1748859239.682174677] [main_robot.node_ihm]: Score received: 20, current_score=20
[action_sequencer_node.py-11] [INFO] [1748859239.773592029] [main_robot.action_sequencer_node]: Sending raw command: VMAX 0.5
[action_sequencer_node.py-11] [INFO] [1748859239.877998087] [main_robot.action_sequencer_node]: STEPPER : STEPPER1 1
[zynq_simu.py-8] [INFO] [1748859239.890298552] [main_robot.zynq_simu_node]: The name STEPPER1 does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859239.982009066] [main_robot.action_sequencer_node]: KALMAN ON
[zynq_simu.py-8] [INFO] [1748859239.997916713] [main_robot.zynq_simu_node]: The name ENKALMAN does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859241.085971712] [main_robot.action_sequencer_node]: Sending raw command: VMAX 0.5
[action_sequencer_node.py-11] [INFO] [1748859241.400492568] [main_robot.action_sequencer_node]: SERVO : SERVO 1 10
[zynq_simu.py-8] [WARN] [1748859241.426778529] [main_robot.zynq_simu_node]: Action SERVO is not implemented.
[action_sequencer_node.py-11] [INFO] [1748859241.505563437] [main_robot.action_sequencer_node]: SERVO : SERVO 2 180
[zynq_simu.py-8] [WARN] [1748859241.517424019] [main_robot.zynq_simu_node]: Action SERVO is not implemented.
[action_sequencer_node.py-11] [INFO] [1748859241.612122990] [main_robot.action_sequencer_node]: STEPPER : STEPPER1 1
[zynq_simu.py-8] [INFO] [1748859241.634041126] [main_robot.zynq_simu_node]: The name STEPPER1 does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [WARN] [1748859244.090465152] [main_robot.action_sequencer_node]: Motion timed out.
[ihm_node.py-12] [INFO] [1748859245.489533941] [main_robot.node_ihm]: Score received: 4
[ihm_node.py-12] [INFO] [1748859245.490000849] [main_robot.node_ihm]: Score received: 4, current_score=24
[action_sequencer_node.py-11] [WARN] [1748859246.898094298] [main_robot.action_sequencer_node]: Motion timed out.
[action_sequencer_node.py-11] [INFO] [1748859251.002034408] [main_robot.action_sequencer_node]: Sending raw command: VMAX 0.5
[action_sequencer_node.py-11] [WARN] [1748859251.685600340] [main_robot.action_sequencer_node]: Motion timed out.
[ihm_node.py-12] [INFO] [1748859253.194458161] [main_robot.node_ihm]: Score received: 4
[ihm_node.py-12] [INFO] [1748859253.194945411] [main_robot.node_ihm]: Score received: 4, current_score=28
[action_sequencer_node.py-11] [INFO] [1748859253.294320766] [main_robot.action_sequencer_node]: Sending raw command: VMAX 0.7
[action_sequencer_node.py-11] [INFO] [1748859255.836134039] [main_robot.action_sequencer_node]: Sending raw command: VMAX 0.5
[action_sequencer_node.py-11] [INFO] [1748859256.040711508] [main_robot.action_sequencer_node]: PUMP : PUMP 1 1
[zynq_simu.py-8] [INFO] [1748859256.057097095] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[action_sequencer_node.py-11] [WARN] [1748859256.195996749] [main_robot.action_sequencer_node]: Motion timed out.
[action_sequencer_node.py-11] [WARN] [1748859258.736174804] [main_robot.action_sequencer_node]: Motion timed out.
[action_sequencer_node.py-11] [INFO] [1748859259.045237936] [main_robot.action_sequencer_node]: KALMAN OFF
[zynq_simu.py-8] [INFO] [1748859259.047190227] [main_robot.zynq_simu_node]: The name ENKALMAN does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859260.287962691] [main_robot.action_sequencer_node]: STEPPER : STEPPER1 2
[zynq_simu.py-8] [INFO] [1748859260.289282040] [main_robot.zynq_simu_node]: The name STEPPER1 does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859260.388815039] [main_robot.action_sequencer_node]: PUMP : PUMP 2 1
[zynq_simu.py-8] [INFO] [1748859260.390787898] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[action_sequencer_node.py-11] [INFO] [1748859260.489480334] [main_robot.action_sequencer_node]: PUMP : PUMP 3 1
[zynq_simu.py-8] [INFO] [1748859260.491106620] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[action_sequencer_node.py-11] [INFO] [1748859260.590120739] [main_robot.action_sequencer_node]: PUMP : PUMP 4 1
[zynq_simu.py-8] [INFO] [1748859260.592012653] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[action_sequencer_node.py-11] [WARN] [1748859262.695313802] [main_robot.action_sequencer_node]: Motion timed out.
[action_sequencer_node.py-11] [INFO] [1748859263.820340571] [main_robot.action_sequencer_node]: PUMP : PUMP 2 0
[zynq_simu.py-8] [INFO] [1748859263.828689512] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[action_sequencer_node.py-11] [INFO] [1748859263.925816276] [main_robot.action_sequencer_node]: PUMP : PUMP 3 0
[zynq_simu.py-8] [INFO] [1748859263.938700031] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[action_sequencer_node.py-11] [INFO] [1748859264.029720735] [main_robot.action_sequencer_node]: PUMP : PUMP 4 0
[zynq_simu.py-8] [INFO] [1748859264.043556015] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[ihm_node.py-12] [INFO] [1748859264.136409624] [main_robot.node_ihm]: Score received: 4
[ihm_node.py-12] [INFO] [1748859264.140617313] [main_robot.node_ihm]: Score received: 4, current_score=32
[action_sequencer_node.py-11] [INFO] [1748859264.235517816] [main_robot.action_sequencer_node]: PUMP : PUMP 1 0
[zynq_simu.py-8] [INFO] [1748859264.255418892] [main_robot.zynq_simu_node]: The message type PUMP_STRUCT does not exist in the YAML file format_msgs.
[action_sequencer_node.py-11] [INFO] [1748859264.341582271] [main_robot.action_sequencer_node]: VALVE 1 1
[zynq_simu.py-8] [INFO] [1748859264.364946474] [main_robot.zynq_simu_node]: The name VALVE does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859264.445606384] [main_robot.action_sequencer_node]: VALVE 2 1
[zynq_simu.py-8] [INFO] [1748859264.469984677] [main_robot.zynq_simu_node]: The name VALVE does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859264.549610328] [main_robot.action_sequencer_node]: VALVE 3 1
[zynq_simu.py-8] [INFO] [1748859264.564987728] [main_robot.zynq_simu_node]: The name VALVE does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859264.655275593] [main_robot.action_sequencer_node]: VALVE 4 1
[zynq_simu.py-8] [INFO] [1748859264.674903592] [main_robot.zynq_simu_node]: The name VALVE does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859264.759318630] [main_robot.action_sequencer_node]: STEPPER : STEPPER1 1
[zynq_simu.py-8] [INFO] [1748859264.769938141] [main_robot.zynq_simu_node]: The name STEPPER1 does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859264.863174635] [main_robot.action_sequencer_node]: KALMAN ON
[zynq_simu.py-8] [INFO] [1748859264.897801871] [main_robot.zynq_simu_node]: The name ENKALMAN does not exist in the YAML file com_msgs.
[action_sequencer_node.py-11] [INFO] [1748859265.472791438] [main_robot.action_sequencer_node]: Sending raw command: VMAX 0.7
[action_sequencer_node.py-11] [WARN] [1748859268.003157877] [main_robot.action_sequencer_node]: Motion timed out.
[action_sequencer_node.py-11] [WARN] [1748859271.216376527] [main_robot.action_sequencer_node]: Motion timed out.
[ihm_node.py-12] [INFO] [1748859272.747360039] [main_robot.node_ihm]: Score received: 10
[ihm_node.py-12] [INFO] [1748859272.750705035] [main_robot.node_ihm]: Score received: 10, current_score=42

It appears way to often and should not happen in simu (exist if Pos_done message is lost)