From 2cae6ba462e9b42a224db9bec4857ffa3f3b8cfe Mon Sep 17 00:00:00 2001 From: Dave Coleman Date: Sat, 13 Jun 2026 22:50:22 -0600 Subject: [PATCH] chore(sim): suppress ros2_control overrun warnings in simulation configs Set controller_manager overruns.print_warnings: false in every simulation config so the non-realtime overrun WARN spam (new in the Jazzy controller_manager 4.44) no longer floods the console. Sim-only; real-hardware base/site configs are intentionally left untouched. Co-Authored-By: Claude Opus 4.8 (1M context) --- src/dual_arm_sim/config/control/franka_ros2_control.yaml | 2 ++ src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml | 2 ++ src/grinding_sim/config/control/ur20.ros2_control.yaml | 2 ++ src/hangar_sim/config/control/picknik_ur.ros2_control.yaml | 2 ++ src/kitchen_sim/config/control/franka_ros2_control.yaml | 2 ++ src/lab_sim/config/control/picknik_ur.ros2_control.yaml | 2 ++ .../config/control/picknik_kinova_gen3.ros2_control.yaml | 2 ++ .../mock_sim/config/control/picknik_ur.ros2_control.yaml | 2 ++ .../config/control/picknik_multi_ur.ros2_control.yaml | 2 ++ 9 files changed, 18 insertions(+) diff --git a/src/dual_arm_sim/config/control/franka_ros2_control.yaml b/src/dual_arm_sim/config/control/franka_ros2_control.yaml index c6c9e6f04..214061409 100644 --- a/src/dual_arm_sim/config/control/franka_ros2_control.yaml +++ b/src/dual_arm_sim/config/control/franka_ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 1000 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster joint_trajectory_controller: diff --git a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml index ae9a63c13..fcd400ceb 100644 --- a/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml +++ b/src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 600 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster joint_trajectory_admittance_controller: diff --git a/src/grinding_sim/config/control/ur20.ros2_control.yaml b/src/grinding_sim/config/control/ur20.ros2_control.yaml index 8bea9c05a..9d1ae2a08 100644 --- a/src/grinding_sim/config/control/ur20.ros2_control.yaml +++ b/src/grinding_sim/config/control/ur20.ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 600 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster joint_trajectory_admittance_controller: diff --git a/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml b/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml index c5274166a..3c580762f 100644 --- a/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml +++ b/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 600 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster joint_trajectory_controller: diff --git a/src/kitchen_sim/config/control/franka_ros2_control.yaml b/src/kitchen_sim/config/control/franka_ros2_control.yaml index 97e322e58..ab0e06e6a 100644 --- a/src/kitchen_sim/config/control/franka_ros2_control.yaml +++ b/src/kitchen_sim/config/control/franka_ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 1000 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster joint_trajectory_admittance_controller: diff --git a/src/lab_sim/config/control/picknik_ur.ros2_control.yaml b/src/lab_sim/config/control/picknik_ur.ros2_control.yaml index eaeae0477..8f17e9ee4 100644 --- a/src/lab_sim/config/control/picknik_ur.ros2_control.yaml +++ b/src/lab_sim/config/control/picknik_ur.ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 600 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster joint_trajectory_controller: diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml index c7b1c8e88..fdcc02cb3 100644 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml +++ b/src/moveit_pro_kinova_configs/kinova_sim/config/control/picknik_kinova_gen3.ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 1000 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster joint_trajectory_admittance_controller: diff --git a/src/moveit_pro_ur_configs/mock_sim/config/control/picknik_ur.ros2_control.yaml b/src/moveit_pro_ur_configs/mock_sim/config/control/picknik_ur.ros2_control.yaml index d16df5080..7ea1bd3b9 100644 --- a/src/moveit_pro_ur_configs/mock_sim/config/control/picknik_ur.ros2_control.yaml +++ b/src/moveit_pro_ur_configs/mock_sim/config/control/picknik_ur.ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 600 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster io_and_status_controller: diff --git a/src/moveit_pro_ur_configs/multi_arm_sim/config/control/picknik_multi_ur.ros2_control.yaml b/src/moveit_pro_ur_configs/multi_arm_sim/config/control/picknik_multi_ur.ros2_control.yaml index e704cfce9..a1b9608f1 100644 --- a/src/moveit_pro_ur_configs/multi_arm_sim/config/control/picknik_multi_ur.ros2_control.yaml +++ b/src/moveit_pro_ur_configs/multi_arm_sim/config/control/picknik_multi_ur.ros2_control.yaml @@ -1,6 +1,8 @@ controller_manager: ros__parameters: update_rate: 100 # Hz + overruns: + print_warnings: false # Suppress overrun WARN logs in non-realtime sim; overrun handling (overruns.manage) untouched. joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster first_io_and_status_controller: