136
Total objective tests
34
Objectives passed
0
Objectives failed
102
Objectives skipped
10.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.6s | 164 warnings · 16380 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992634 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693634 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693634 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325560 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325560 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791502385.67778468 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791502386.30597973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.16sINFOros2_control_node[2026-10-08 23:33:06.500] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-08 23:33:06.500] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564794 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564794 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.44sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875301 ms (missed cycles : 7). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875301 ms (missed cycles : 7).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623920 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623920 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885830 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885830 ms (missed cycles : 2).[0m ×2 + 6.93sINFOjoint_trajectory_controllerReceived new action goal ×2686 + 6.93sINFOjoint_trajectory_controllerAccepted new action goal ×2686 + 6.93sINFOros2_control_nodeReceived new action goal[0m ×5372 + 6.93sINFOros2_control_nodeAccepted new action goal[0m ×5372 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719568 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719568 ms (missed cycles : 2).[0m ×2 + 7.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×4 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681915 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681915 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573891 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573891 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891629 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891629 ms (missed cycles : 2).[0m ×2 + 11.51sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.51sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.51sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.51sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.52sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025786 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025786 ms (missed cycles : 3).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405557 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405557 ms (missed cycles : 2).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959972 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959972 ms (missed cycles : 2).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768134 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768134 ms (missed cycles : 2).[0m ×2 + 14.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701517 ms (missed cycles : 4). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701517 ms (missed cycles : 4).[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800232 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800232 ms (missed cycles : 2).[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685797 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685797 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410916 ms (missed cycles : 2). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410916 ms (missed cycles : 2).[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999886 ms (missed cycles : 2). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999886 ms (missed cycles : 2).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414051 ms (missed cycles : 3). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414051 ms (missed cycles : 3).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107828 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107828 ms (missed cycles : 2).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691065 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691065 ms (missed cycles : 2).[0m ×2 + 23.87sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715276 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715276 ms (missed cycles : 2).[0m ×2 + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377192 ms (missed cycles : 2). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377192 ms (missed cycles : 2).[0m ×2 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868211 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868211 ms (missed cycles : 2).[0m ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661724 ms (missed cycles : 2). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661724 ms (missed cycles : 2).[0m ×2 + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916244 ms (missed cycles : 2). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916244 ms (missed cycles : 2).[0m ×2 + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881553 ms (missed cycles : 2). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881553 ms (missed cycles : 2).[0m ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987997 ms (missed cycles : 2). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987997 ms (missed cycles : 2).[0m ×2 + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773321 ms (missed cycles : 3). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773321 ms (missed cycles : 3).[0m ×2 + 31.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140683 ms (missed cycles : 2). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140683 ms (missed cycles : 2).[0m ×2 + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291801 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291801 ms (missed cycles : 2).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363185 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363185 ms (missed cycles : 2).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271045 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271045 ms (missed cycles : 2).[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066522 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066522 ms (missed cycles : 2).[0m ×2 + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721329 ms (missed cycles : 2). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721329 ms (missed cycles : 2).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102638 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102638 ms (missed cycles : 2).[0m ×2 + 38.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×4 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869884 ms (missed cycles : 2). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869884 ms (missed cycles : 2).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170122 ms (missed cycles : 2). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170122 ms (missed cycles : 2).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363722 ms (missed cycles : 2). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363722 ms (missed cycles : 2).[0m ×2 + 42.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712994 ms (missed cycles : 2). + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712994 ms (missed cycles : 2).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710201 ms (missed cycles : 2). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710201 ms (missed cycles : 2).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966040 ms (missed cycles : 2). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966040 ms (missed cycles : 2).[0m ×2 + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805052 ms (missed cycles : 3). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805052 ms (missed cycles : 3).[0m ×2 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092717 ms (missed cycles : 2). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092717 ms (missed cycles : 2).[0m ×2 + 46.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502430.24345636 seconds ×3 + 46.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675381 ms (missed cycles : 3). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675381 ms (missed cycles : 3).[0m ×2 + 47.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.46sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791502430.90416217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.72sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 47.73sINFOros2_control_node[2026-10-08 23:33:51.068] [info] Received new action goal ×2 + 47.73sINFOros2_control_node[2026-10-08 23:33:51.068] [info] Accepted new action goal ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260900 ms (missed cycles : 5). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260900 ms (missed cycles : 5).[0m ×2 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997270 ms (missed cycles : 2). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997270 ms (missed cycles : 2).[0m ×2 + 50.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821600 ms (missed cycles : 2). + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821600 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.3s | 153 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 7.18sINFOros2_control_node[2026-10-08 23:32:14.718] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-10-08 23:32:14.718] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070534 ms (missed cycles : 6). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070534 ms (missed cycles : 6).[0m ×2 + 8.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×6 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213712 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213712 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703786 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703786 ms (missed cycles : 2).[0m ×2 + 10.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.35sINFOros2_control_node[2026-10-08 23:32:17.889] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-10-08 23:32:17.889] [info] Accepted new action goal ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.968291 ms (missed cycles : 6). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.968291 ms (missed cycles : 6).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866104 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866104 ms (missed cycles : 2).[0m ×2 + 13.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589084 ms (missed cycles : 4). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589084 ms (missed cycles : 4).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.37sINFOros2_control_node[2026-10-08 23:32:20.912] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-10-08 23:32:20.912] [info] Accepted new action goal ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875691 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875691 ms (missed cycles : 3).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760909 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760909 ms (missed cycles : 2).[0m ×2 + 16.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786170 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786170 ms (missed cycles : 2).[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629891 ms (missed cycles : 5). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629891 ms (missed cycles : 5).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453970 ms (missed cycles : 4). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453970 ms (missed cycles : 4).[0m ×2 + 19.47sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 19.68sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720101 ms (missed cycles : 4). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720101 ms (missed cycles : 4).[0m ×2 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825780 ms (missed cycles : 5). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825780 ms (missed cycles : 5).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631633 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631633 ms (missed cycles : 2).[0m ×2 + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765397 ms (missed cycles : 3). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765397 ms (missed cycles : 3).[0m ×2 + 23.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.92sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.92sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.92sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198481 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198481 ms (missed cycles : 2).[0m ×2 + 24.85sINFOros2_control_node[2026-10-08 23:32:32.392] [info] Received new action goal ×2 + 24.85sINFOros2_control_node[2026-10-08 23:32:32.392] [info] Accepted new action goal ×2 + 25.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556907 ms (missed cycles : 2). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556907 ms (missed cycles : 2).[0m ×2 + 26.04sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.05sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.34sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 26.39sINFOros2_control_node[2026-10-08 23:32:33.925] [info] Received new action goal ×2 + 26.39sINFOros2_control_node[2026-10-08 23:32:33.925] [info] Accepted new action goal ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618580 ms (missed cycles : 4). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618580 ms (missed cycles : 4).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.222582 ms (missed cycles : 8). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.222582 ms (missed cycles : 8).[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319903 ms (missed cycles : 2). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319903 ms (missed cycles : 2).[0m ×2 + 28.69sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 28.69sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.71sINFOros2_control_node[2026-10-08 23:32:36.242] [info] Received new action goal ×2 + 28.71sINFOros2_control_node[2026-10-08 23:32:36.242] [info] Accepted new action goal ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196420 ms (missed cycles : 2). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196420 ms (missed cycles : 2).[0m ×2 + 30.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775675 ms (missed cycles : 2). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775675 ms (missed cycles : 2).[0m ×2 + 31.70sINFOros2_control_node[2026-10-08 23:32:39.233] [info] Received new action goal ×2 + 31.70sINFOros2_control_node[2026-10-08 23:32:39.233] [info] Accepted new action goal ×2 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253954 ms (missed cycles : 2). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253954 ms (missed cycles : 2).[0m ×2 + 32.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437489 ms (missed cycles : 4). + 32.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437489 ms (missed cycles : 4).[0m ×2 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188770 ms (missed cycles : 3). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188770 ms (missed cycles : 3).[0m ×2 + 34.29sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 34.30sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.35sINFOros2_control_node[2026-10-08 23:32:41.886] [info] Received new action goal ×2 + 34.35sINFOros2_control_node[2026-10-08 23:32:41.886] [info] Accepted new action goal ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254930 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254930 ms (missed cycles : 2).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141339 ms (missed cycles : 3). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141339 ms (missed cycles : 3).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185547 ms (missed cycles : 3). + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185547 ms (missed cycles : 3).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458171 ms (missed cycles : 2). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458171 ms (missed cycles : 2).[0m ×2 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546198 ms (missed cycles : 5). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546198 ms (missed cycles : 5).[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438884 ms (missed cycles : 4). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438884 ms (missed cycles : 4).[0m ×2 + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495407 ms (missed cycles : 2). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495407 ms (missed cycles : 2).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498659 ms (missed cycles : 4). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498659 ms (missed cycles : 4).[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793927 ms (missed cycles : 3). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793927 ms (missed cycles : 3).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488371 ms (missed cycles : 4). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488371 ms (missed cycles : 4).[0m ×2 + 45.32sINFOros2_control_node[2026-10-08 23:32:52.856] [info] Received new action goal ×2 + 45.32sINFOros2_control_node[2026-10-08 23:32:52.856] [info] Accepted new action goal ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915972 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915972 ms (missed cycles : 2).[0m ×2 + 46.47sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791502374.01181316 seconds ×3 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256346 ms (missed cycles : 2). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256346 ms (missed cycles : 2).[0m ×2 + 47.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.08sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 47.31sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791502374.84448266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812322 ms (missed cycles : 2). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812322 ms (missed cycles : 2).[0m ×2 + 48.33sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 48.35sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.36sINFOros2_control_node[2026-10-08 23:32:55.901] [info] Received new action goal ×2 + 48.36sINFOros2_control_node[2026-10-08 23:32:55.901] [info] Accepted new action goal ×2 + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884910 ms (missed cycles : 2). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884910 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 36.2s | 3 errors · 131 warnings · 296 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911138 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752675 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752675 ms (missed cycles : 3).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851712 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851712 ms (missed cycles : 5).[0m ×2 + 3.07sINFOobjective_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 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502495.69388485 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326728 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326728 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.62sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.62sINFOobjective_server_nodecaller: ×8 + 3.62sINFOobjective_server_nodetype: 0 ×8 + 3.62sINFOobjective_server_nodename: "" ×8 + 3.62sINFOobjective_server_nodeinstance_id: "" ×8 + 3.62sINFOobjective_server_node ×8 + 3.72sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791502496.33658743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148897 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148897 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-10-08 23:34:57.361] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-10-08 23:34:57.361] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015908 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015908 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213919 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213919 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.429867 ms (missed cycles : 7). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.429867 ms (missed cycles : 7).[0m ×2 + 8.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705580 ms (missed cycles : 5). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705580 ms (missed cycles : 5).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206699 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206699 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981284 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981284 ms (missed cycles : 2).[0m ×2 + 10.89sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 10.90sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 10.95sINFOros2_control_node[2026-10-08 23:35:03.563] [info] Received new action goal ×2 + 10.95sINFOros2_control_node[2026-10-08 23:35:03.563] [info] Accepted new action goal ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349173 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349173 ms (missed cycles : 3).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972083 ms (missed cycles : 4). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972083 ms (missed cycles : 4).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688824 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688824 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.730423 ms (missed cycles : 8). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.730423 ms (missed cycles : 8).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330070 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330070 ms (missed cycles : 2).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959516 ms (missed cycles : 4). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959516 ms (missed cycles : 4).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551878 ms (missed cycles : 6). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551878 ms (missed cycles : 6).[0m ×2 + 19.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699494 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699494 ms (missed cycles : 2).[0m ×2 + 20.89sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 20.90sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 20.91sINFOros2_control_node[2026-10-08 23:35:13.524] [info] Received new action goal ×2 + 20.91sINFOros2_control_node[2026-10-08 23:35:13.524] [info] Accepted new action goal ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981301 ms (missed cycles : 2). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981301 ms (missed cycles : 2).[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673769 ms (missed cycles : 3). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673769 ms (missed cycles : 3).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915521 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915521 ms (missed cycles : 2).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.568944 ms (missed cycles : 8). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.568944 ms (missed cycles : 8).[0m ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192283 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192283 ms (missed cycles : 2).[0m ×2 + 25.97sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 25.99sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 26.03sINFOros2_control_node[2026-10-08 23:35:18.648] [info] Received new action goal ×2 + 26.03sINFOros2_control_node[2026-10-08 23:35:18.648] [info] Accepted new action goal ×2 + 26.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031265 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031265 ms (missed cycles : 2).[0m ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861644 ms (missed cycles : 3). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861644 ms (missed cycles : 3).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071171 ms (missed cycles : 2). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071171 ms (missed cycles : 2).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767150 ms (missed cycles : 4). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767150 ms (missed cycles : 4).[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762482 ms (missed cycles : 4). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762482 ms (missed cycles : 4).[0m ×2 + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201152 ms (missed cycles : 3). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201152 ms (missed cycles : 3).[0m ×2 + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770102 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770102 ms (missed cycles : 2).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774860 ms (missed cycles : 3). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774860 ms (missed cycles : 3).[0m ×2 + 34.61sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.48sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 35.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 35.51sINFOros2_control_node[2026-10-08 23:35:28.123] [info] Received new action goal ×2 + 35.51sINFOros2_control_node[2026-10-08 23:35:28.123] [info] Accepted new action goal ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762879 ms (missed cycles : 4). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762879 ms (missed cycles : 4).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5).[0m ×2 + 37.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 39.29sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 39.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 40.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 40.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 40.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 40.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 40.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 40.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 40.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.84sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 40.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 41.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 41.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.68sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 41.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 41.69sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 41.69sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 92 warnings · 11872 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1946 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1946 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3892 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×3892 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966040 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966040 ms (missed cycles : 2).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805052 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805052 ms (missed cycles : 3).[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092717 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092717 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×6 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502430.24345636 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675381 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675381 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791502430.90416217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-10-08 23:33:51.068] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-08 23:33:51.068] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260900 ms (missed cycles : 5). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260900 ms (missed cycles : 5).[0m ×2 + 5.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997270 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997270 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821600 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821600 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689448 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689448 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785157 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785157 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702879 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702879 ms (missed cycles : 2).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063028 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063028 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688745 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688745 ms (missed cycles : 2).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795716 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795716 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749471 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749471 ms (missed cycles : 2).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734901 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734901 ms (missed cycles : 2).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797743 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797743 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874008 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874008 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964060 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964060 ms (missed cycles : 2).[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239598 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239598 ms (missed cycles : 2).[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848620 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848620 ms (missed cycles : 2).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846567 ms (missed cycles : 2). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846567 ms (missed cycles : 2).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2).[0m ×2 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2).[0m ×2 + 24.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2).[0m ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5).[0m ×2 + 25.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502452.40468025 seconds ×3 + 26.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791502453.12108064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.39sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 26.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.41sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Received new action goal ×2 + 26.41sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Accepted new action goal ×2 + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6).[0m ×2 + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 20.0s | 3 errors · 83 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00356669 s). ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254313 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254313 ms (missed cycles : 2).[0m ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.39sINFOros2_control_node[2026-10-08 23:31:32.140] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-10-08 23:31:32.140] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-10-08 23:31:32.572] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-08 23:31:32.572] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602668 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602668 ms (missed cycles : 4).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960419 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960419 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.55sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502294.33782673 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384551 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384551 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791502295.13572049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877065 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877065 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.42sINFOros2_control_node[2026-10-08 23:31:36.170] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-08 23:31:36.170] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317400 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317400 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012462 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012462 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170385 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170385 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.272164 ms (missed cycles : 6). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.272164 ms (missed cycles : 6).[0m ×2 + 9.03sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.05sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.10sINFOros2_control_node[2026-10-08 23:31:40.840] [info] Received new action goal ×2 + 9.10sINFOros2_control_node[2026-10-08 23:31:40.840] [info] Accepted new action goal ×2 + 9.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596685 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596685 ms (missed cycles : 3).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287087 ms (missed cycles : 5). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287087 ms (missed cycles : 5).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785191 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785191 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972434 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972434 ms (missed cycles : 3).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099631 ms (missed cycles : 4). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099631 ms (missed cycles : 4).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522417 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522417 ms (missed cycles : 4).[0m ×2 + 15.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602740 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602740 ms (missed cycles : 3).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023375 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023375 ms (missed cycles : 4).[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932965 ms (missed cycles : 3). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932965 ms (missed cycles : 3).[0m ×2 + 18.50sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.61sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 18.62sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.63sINFOros2_control_node[2026-10-08 23:31:50.382] [info] Received new action goal ×2 + 18.63sINFOros2_control_node[2026-10-08 23:31:50.382] [info] Accepted new action goal ×2 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812994 ms (missed cycles : 4). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812994 ms (missed cycles : 4).[0m ×2 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398744 ms (missed cycles : 2). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398744 ms (missed cycles : 2).[0m ×2 + 21.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879607 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879607 ms (missed cycles : 2).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513073 ms (missed cycles : 4). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513073 ms (missed cycles : 4).[0m ×2 + 22.55sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791502314.29684711 seconds ×3 + 23.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.09sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.26sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791502315.00398588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.36sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 23.37sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.38sINFOros2_control_node[2026-10-08 23:31:55.128] [info] Received new action goal ×2 + 23.38sINFOros2_control_node[2026-10-08 23:31:55.128] [info] Accepted new action goal ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177917 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177917 ms (missed cycles : 2).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873954 ms (missed cycles : 4). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873954 ms (missed cycles : 4).[0m ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259025 ms (missed cycles : 5). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259025 ms (missed cycles : 5).[0m ×2 + 25.89sINFOros2_control_node[2026-10-08 23:31:57.637] [info] Received new action goal ×2 + 25.89sINFOros2_control_node[2026-10-08 23:31:57.637] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 60 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812994 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812994 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398744 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398744 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879607 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879607 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513073 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513073 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791502314.29684711 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.71sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_nodecaller: ×6 + 3.72sINFOobjective_server_nodetype: 0 ×6 + 3.72sINFOobjective_server_nodename: "" ×6 + 3.72sINFOobjective_server_nodeinstance_id: "" ×6 + 3.72sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791502315.00398588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-10-08 23:31:55.128] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-08 23:31:55.128] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177917 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177917 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873954 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873954 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259025 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259025 ms (missed cycles : 5).[0m ×2 + 6.52sINFOros2_control_node[2026-10-08 23:31:57.637] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-10-08 23:31:57.637] [info] Accepted new action goal ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028866 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028866 ms (missed cycles : 2).[0m ×2 + 7.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966533 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966533 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182425 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182425 ms (missed cycles : 4).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254622 ms (missed cycles : 5). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254622 ms (missed cycles : 5).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539275 ms (missed cycles : 5). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539275 ms (missed cycles : 5).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6).[0m ×2 + 13.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791502326.20777345 seconds ×3 + 15.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.73sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.80sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791502326.91822982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.87sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791502326.98836589 seconds ×3 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3).[0m ×2 + 16.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.42sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 16.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.61sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 16.61sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 18.61sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793927 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.62sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.62sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.62sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488371 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488371 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.70sINFOros2_control_node[2026-10-08 23:32:52.856] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-10-08 23:32:52.856] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915972 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915972 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791502374.01181316 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256346 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256346 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791502374.84448266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812322 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812322 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.75sINFOros2_control_node[2026-10-08 23:32:55.901] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-10-08 23:32:55.901] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884910 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884910 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926710 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926710 ms (missed cycles : 3).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300608 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300608 ms (missed cycles : 2).[0m ×2 + 8.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.46sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.46sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.46sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.46sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348056 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348056 ms (missed cycles : 2).[0m ×2 + 8.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188046 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188046 ms (missed cycles : 2).[0m ×2 + 10.88sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 10.91sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.92sINFOros2_control_node[2026-10-08 23:33:02.073] [info] Received new action goal ×2 + 10.92sINFOros2_control_node[2026-10-08 23:33:02.073] [info] Accepted new action goal ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955345 ms (missed cycles : 4). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955345 ms (missed cycles : 4).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992634 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992634 ms (missed cycles : 3).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693634 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693634 ms (missed cycles : 2).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325560 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325560 ms (missed cycles : 2).[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791502385.67778468 seconds ×3 + 14.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 15.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791502386.30597973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.34sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 15.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.35sINFOros2_control_node[2026-10-08 23:33:06.500] [info] Received new action goal ×2 + 15.35sINFOros2_control_node[2026-10-08 23:33:06.500] [info] Accepted new action goal ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564794 ms (missed cycles : 5). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564794 ms (missed cycles : 5).[0m ×2 + 16.62sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.63sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875301 ms (missed cycles : 7). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875301 ms (missed cycles : 7).[0m ×2 + 16.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623920 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623920 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 73 errors · 42 warnings · 473 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4).[0m ×2 + 0.12sINFOobjective_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 + 0.12sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Got request to cancel active goal. ×2 + 0.12sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Canceling active goal... ×2 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502544.19729280 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.70sINFOobjective_server_nodecaller: ×8 + 0.70sINFOobjective_server_nodetype: 0 ×8 + 0.70sINFOobjective_server_nodename: "" ×8 + 0.70sINFOobjective_server_nodeinstance_id: "" ×8 + 0.70sINFOobjective_server_node ×8 + 0.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502544.82913423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502546.42926908 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791502547.03630805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791502547.03827095 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791502547.64640069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791502547.65722752 seconds ×3 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502548.26755142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502549.03769040 seconds ×3 + 5.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212244 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212244 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860664 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860664 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920342 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920342 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788348 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.788348 ms (missed cycles : 5).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440736 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440736 ms (missed cycles : 3).[0m ×2 + 9.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492331 ms (missed cycles : 5). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.492331 ms (missed cycles : 5).[0m ×2 + 10.89sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.92sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_video_auth_proxy-25process has died [pid 8085, 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 + 10.92sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.93sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge_auth_proxy-24process has died [pid 8084, 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 + 10.93sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.94sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.95sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.95sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.96sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.97sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.97sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.98sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.98sINFOvideo_server-23process has finished cleanly [pid 8083] ×2 + 10.98sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.99sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.99sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.00sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.00sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.00sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.01sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.02sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.02sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.02sINFOvideo_server2026/10/08 23:35:55 INF shutting down gracefully ×2 + 11.02sINFOcontroller_managerShutdown request received.... + 11.02sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.02sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.02sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOvideo_server2026/10/08 23:35:55 INF [WebRTC] closing ×2 + 11.02sINFOvideo_server2026/10/08 23:35:55 INF [RTSP] closing ×2 + 11.02sINFOvideo_server2026/10/08 23:35:55 INF waiting for running hooks ×2 + 11.02sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.02sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.02sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.02sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.02sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.02sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.02sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.03sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.03sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.03sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.03sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.03sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.03sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.03sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.03sERRORmove_groupStack trace (most recent call last) in thread 8505: ×2 + 11.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.03sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.03sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.03sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.03sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.03sINFOcontroller_managerShutting down the controller manager. + 11.03sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5e494e0cc3, in __clone ×2 + 11.03sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.03sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.03sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.03sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.03sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5e49453b83, in ×2 + 11.03sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5e496e4db3, in ×2 + 11.03sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f5e49e4c8e4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.03sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5e49a78620, in rclcpp::Rate::sleep() ×2 + 11.03sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5e499bad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.03sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5e4997c087, in ×2 + 11.03sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.03sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.03sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.03sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.03sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.03sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5e496b3390, in __cxa_throw ×2 + 11.03sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5e4969da54, in std::terminate() ×2 + 11.03sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5e496b30d9, in ×2 + 11.03sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5e4969dff4, in ×2 + 11.03sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5e493df8fe, in abort ×2 + 11.03sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5e493fc27d, in raise ×2 + 11.03sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5e49455c0c, in pthread_kill ×2 + 11.04sERRORmove_groupAborted (Signal sent by tkill() 7992 0) ×2 + 11.05sERRORmove_group-9process has died [pid 7992, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params__gm_s8fj --params-file /tmp/launch_params_0zr7ip_d --params-file /tmp/launch_params_euhf94_1 --params-file /tmp/launch_params_fvl52zi6 --params-file /tmp/launch_params_kd2o45hc --params-file /tmp/launch_params_uo332k8q']. ×2 + 11.23sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.23sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.98sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.98sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.98sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.98sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.98sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.98sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.98sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.98sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.98sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.98sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.99sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.99sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.99sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.99sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.99sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.99sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.99sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.99sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.99sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.99sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.99sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.99sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.99sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.99sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.99sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.99sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8082] ×2 + 11.99sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.99sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.99sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.99sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.04sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7996] ×2 + 12.04sERRORjoint_state_visualization_relay-21process has died [pid 8081, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay --ros-args --params-file /tmp/launch_params_p_thp37a']. ×2 + 12.04sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.05sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7995] ×2 + 12.05sERRORtf_visualization_relay-20process has died [pid 8080, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_blz0cptn']. ×2 + 12.05sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.07sINFOparameter_manager_node-10process has finished cleanly [pid 7993] ×2 + 12.08sINFOui_teleop_bridge-18process has finished cleanly [pid 8013] ×2 + 12.09sINFOexecute_objective_bridge-17process has finished cleanly [pid 8004] ×2 + 12.09sINFOwaypoint_manager_node-11process has finished cleanly [pid 7994] ×2 + 12.15sINFOcomponent_container_mt-16process has finished cleanly [pid 8003] ×2 + 12.20sINFOobjective_server_node[0;m[2026-10-08 23:35:56.274] [moveit_pro_license] [info] ×2 + 12.20sINFOobjective_server_node************************************************* ×4 + 12.20sINFOobjective_server_node* MoveIt Pro License ×2 + 12.20sINFOobjective_server_node* Application has successfully terminated ×2 + 12.38sINFOobjective_server_node_main-14process has finished cleanly [pid 7999] ×2 + 12.38sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.13sINFOweb_bridge-19process has finished cleanly [pid 8016] ×2 + 13.13sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.17sINFOcomponent_container_mt-15process has finished cleanly [pid 8000] ×2 + 13.68sINFOros2_control_node-1process has finished cleanly [pid 7955] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 57 warnings · 211 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046224 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046224 ms (missed cycles : 2).[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791502280.87581158 seconds ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083821 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083821 ms (missed cycles : 3).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×4 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037189 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037189 ms (missed cycles : 4).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791502283.92365456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281268 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281268 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.56sINFOros2_control_node[2026-10-08 23:31:24.138] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-10-08 23:31:24.138] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045702 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045702 ms (missed cycles : 5).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064387 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064387 ms (missed cycles : 3).[0m ×2 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817341 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817341 ms (missed cycles : 2).[0m ×2 + 7.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.49sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 5 iterations (0.00500307 s). ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694313 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694313 ms (missed cycles : 2).[0m ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.66sINFOros2_control_node[2026-10-08 23:31:29.230] [info] Received new action goal ×2 + 8.66sINFOros2_control_node[2026-10-08 23:31:29.230] [info] Accepted new action goal ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.249155 ms (missed cycles : 5). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.249155 ms (missed cycles : 5).[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239404 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239404 ms (missed cycles : 2).[0m ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 11.17sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 11.32sINFOobjective_server_nodeFound path in 1 iterations (0.00356669 s). ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254313 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254313 ms (missed cycles : 2).[0m ×2 + 11.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.57sINFOros2_control_node[2026-10-08 23:31:32.140] [info] Received new action goal ×2 + 11.57sINFOros2_control_node[2026-10-08 23:31:32.140] [info] Accepted new action goal ×2 + 12.00sINFOros2_control_node[2026-10-08 23:31:32.572] [info] Received new action goal ×2 + 12.00sINFOros2_control_node[2026-10-08 23:31:32.572] [info] Accepted new action goal ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602668 ms (missed cycles : 4). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602668 ms (missed cycles : 4).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960419 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960419 ms (missed cycles : 2).[0m ×2 + 13.71sINFOobjective_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 + 13.72sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.72sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.72sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502294.33782673 seconds ×3 + 14.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384551 ms (missed cycles : 4). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384551 ms (missed cycles : 4).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791502295.13572049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877065 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877065 ms (missed cycles : 2).[0m ×2 + 15.58sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 15.60sINFOros2_control_node[2026-10-08 23:31:36.170] [info] Received new action goal ×2 + 15.60sINFOros2_control_node[2026-10-08 23:31:36.170] [info] Accepted new action goal ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317400 ms (missed cycles : 5). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317400 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×4 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767354 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767354 ms (missed cycles : 2).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 5 iterations (0.00508168 s). ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299176 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299176 ms (missed cycles : 3).[0m ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.63sINFOros2_control_node[2026-10-08 23:31:18.321] [info] Received new action goal ×2 + 8.63sINFOros2_control_node[2026-10-08 23:31:18.321] [info] Accepted new action goal ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081194 ms (missed cycles : 5). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081194 ms (missed cycles : 5).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301261 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301261 ms (missed cycles : 2).[0m ×2 + 10.89sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046224 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046224 ms (missed cycles : 2).[0m ×2 + 11.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.16sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791502280.87581158 seconds ×3 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083821 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083821 ms (missed cycles : 3).[0m ×2 + 12.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037189 ms (missed cycles : 4). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037189 ms (missed cycles : 4).[0m ×2 + 14.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.13sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.24sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791502283.92365456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281268 ms (missed cycles : 5). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.281268 ms (missed cycles : 5).[0m ×2 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 14.45sINFOros2_control_node[2026-10-08 23:31:24.138] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-10-08 23:31:24.138] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045702 ms (missed cycles : 5). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045702 ms (missed cycles : 5).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064387 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064387 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045903 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045903 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359709 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359709 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.792536 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.792536 ms (missed cycles : 7).[0m ×2 + 2.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.61sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 2.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.63sINFOros2_control_node[2026-10-08 23:30:38.277] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-08 23:30:38.277] [info] Accepted new action goal ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.05sINFOros2_control_node[2026-10-08 23:30:38.693] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-10-08 23:30:38.693] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502238.70964694 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365661 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365661 ms (missed cycles : 6).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.61sINFOobjective_server_nodecaller: ×6 + 3.61sINFOobjective_server_nodetype: 0 ×6 + 3.61sINFOobjective_server_nodename: "" ×6 + 3.61sINFOobjective_server_nodeinstance_id: "" ×6 + 3.61sINFOobjective_server_node ×6 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791502239.35662413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-10-08 23:30:39.601] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-08 23:30:39.601] [info] Accepted new action goal ×2 + 4.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582317 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582317 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827728 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827728 ms (missed cycles : 2).[0m ×2 + 6.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.29sINFOros2_control_node[2026-10-08 23:30:41.941] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-10-08 23:30:41.941] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140343 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140343 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803647 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803647 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888782 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888782 ms (missed cycles : 2).[0m ×2 + 9.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098183 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098183 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534294 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534294 ms (missed cycles : 4).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 14.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 15.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.38sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 15.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.66sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 16.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 54 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 + 6.48sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034871 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034871 ms (missed cycles : 5).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599038 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599038 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276453 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276453 ms (missed cycles : 2).[0m ×2 + 9.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607922 ms (missed cycles : 5). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607922 ms (missed cycles : 5).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497907 ms (missed cycles : 4). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497907 ms (missed cycles : 4).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248488 ms (missed cycles : 4). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248488 ms (missed cycles : 4).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995315 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995315 ms (missed cycles : 2).[0m ×2 + 13.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502474.19696522 seconds ×3 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3).[0m ×2 + 14.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.03sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791502474.83428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 14.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.42sINFOros2_control_node[2026-10-08 23:34:35.158] [info] Received new action goal ×2 + 14.42sINFOros2_control_node[2026-10-08 23:34:35.158] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476542 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476542 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616429 ms (missed cycles : 5). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616429 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 55 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392800 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392800 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915362 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915362 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988276 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988276 ms (missed cycles : 5).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791502484.75140762 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764478 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764478 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791502485.38354683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-08 23:34:45.517] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-08 23:34:45.517] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718490 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718490 ms (missed cycles : 2).[0m ×2 + 4.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927938 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927938 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698125 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698125 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447143 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447143 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192314 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192314 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741423 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741423 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911138 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911138 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752675 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752675 ms (missed cycles : 3).[0m ×2 + 11.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851712 ms (missed cycles : 5). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851712 ms (missed cycles : 5).[0m ×2 + 13.56sINFOobjective_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 + 13.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502495.69388485 seconds ×3 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326728 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326728 ms (missed cycles : 3).[0m ×2 + 14.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.21sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791502496.33658743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148897 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148897 ms (missed cycles : 2).[0m ×2 + 15.22sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 15.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.23sINFOros2_control_node[2026-10-08 23:34:57.361] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-10-08 23:34:57.361] [info] Accepted new action goal ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015908 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015908 ms (missed cycles : 3).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213919 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213919 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 57 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.38sINFOros2_control_node[2026-10-08 23:30:31.259] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-10-08 23:30:31.259] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699627 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699627 ms (missed cycles : 5).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614211 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614211 ms (missed cycles : 3).[0m ×2 + 7.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532696 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532696 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287938 ms (missed cycles : 5). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287938 ms (missed cycles : 5).[0m ×2 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 10.03sINFOros2_control_node[2026-10-08 23:30:34.908] [info] Received new action goal ×2 + 10.03sINFOros2_control_node[2026-10-08 23:30:34.908] [info] Accepted new action goal ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045903 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045903 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359709 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359709 ms (missed cycles : 4).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.792536 ms (missed cycles : 7). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.792536 ms (missed cycles : 7).[0m ×2 + 13.38sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.40sINFOros2_control_node[2026-10-08 23:30:38.277] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-10-08 23:30:38.277] [info] Accepted new action goal ×2 + 13.81sINFOobjective_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 + 13.82sINFOros2_control_node[2026-10-08 23:30:38.693] [info] Got request to cancel active goal. ×2 + 13.82sINFOros2_control_node[2026-10-08 23:30:38.693] [info] Canceling active goal... ×2 + 13.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502238.70964694 seconds ×3 + 13.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365661 ms (missed cycles : 6). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365661 ms (missed cycles : 6).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791502239.35662413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 14.72sINFOros2_control_node[2026-10-08 23:30:39.601] [info] Received new action goal ×2 + 14.72sINFOros2_control_node[2026-10-08 23:30:39.601] [info] Accepted new action goal ×2 + 14.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582317 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582317 ms (missed cycles : 4).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827728 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827728 ms (missed cycles : 2).[0m ×2 + 17.05sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 17.06sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.06sINFOros2_control_node[2026-10-08 23:30:41.941] [info] Received new action goal ×2 + 17.06sINFOros2_control_node[2026-10-08 23:30:41.941] [info] Accepted new action goal ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140343 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140343 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2044 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502452.40468025 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.94sINFOobjective_server_nodecaller: ×4 + 3.94sINFOobjective_server_nodetype: 0 ×4 + 3.94sINFOobjective_server_nodename: "" ×4 + 3.94sINFOobjective_server_nodeinstance_id: "" ×4 + 3.94sINFOobjective_server_node ×4 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791502453.12108064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104992 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104992 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.851646 ms (missed cycles : 6). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.851646 ms (missed cycles : 6).[0m ×2 + 8.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 8.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.93sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.21sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 9.22sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 9.22sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 1 iterations (0.00396207 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.55sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.57sINFOros2_control_node[2026-10-08 23:34:18.649] [info] Received new action goal ×2 + 9.57sINFOros2_control_node[2026-10-08 23:34:18.649] [info] Accepted new action goal ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013441 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013441 ms (missed cycles : 5).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200840 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200840 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 11.87sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 13.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.52sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 13.52sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 14.10sINFOobjective_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 + 14.11sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 14.11sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 14.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 14.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 15.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 16.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 0.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.26sINFOobjective_server_nodecaller: ×6 + 2.26sINFOobjective_server_nodetype: 0 ×6 + 2.26sINFOobjective_server_nodename: "" ×6 + 2.26sINFOobjective_server_nodeinstance_id: "" ×6 + 2.26sINFOobjective_server_node ×6 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×6 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337294 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337294 ms (missed cycles : 2).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.55sINFOros2_control_node[2026-10-08 23:31:05.633] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-10-08 23:31:05.633] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928604 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928604 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958632 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958632 ms (missed cycles : 3).[0m ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.89sINFOros2_control_node[2026-10-08 23:31:07.971] [info] Received new action goal ×2 + 8.89sINFOros2_control_node[2026-10-08 23:31:07.971] [info] Accepted new action goal ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.003506 ms (missed cycles : 6). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.003506 ms (missed cycles : 6).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 11.25sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 11.25sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 13.10sINFOobjective_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 + 13.11sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 13.11sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 13.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 13.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.70sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.99sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 13.99sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.6s | 3 errors · 60 warnings · 357 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.48sINFOobjective_server_nodecaller: ×12 + 2.48sINFOobjective_server_nodetype: 0 ×12 + 2.48sINFOobjective_server_nodename: "" ×12 + 2.48sINFOobjective_server_nodeinstance_id: "" ×12 + 2.48sINFOobjective_server_node ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.40sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 + 7.60sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.60sINFOros2_control_node[2026-10-08 23:35:37.626] [info] Received new action goal ×2 + 7.60sINFOros2_control_node[2026-10-08 23:35:37.626] [info] Accepted new action goal ×2 + 7.60sINFOros2_control_node[2026-10-08 23:35:37.626] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056940 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056940 ms (missed cycles : 2).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433819 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433819 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788499 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788499 ms (missed cycles : 3).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2).[0m ×2 + 11.88sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4).[0m ×2 + 14.16sINFOobjective_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 + 14.17sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Got request to cancel active goal. ×2 + 14.17sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Canceling active goal... ×2 + 14.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502544.19729280 seconds ×3 + 14.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502544.82913423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3).[0m ×2 + 16.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502546.42926908 seconds ×3 + 16.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.95sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.01sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791502547.03630805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.01sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.01sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.01sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.01sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791502547.03827095 seconds ×3 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2).[0m ×2 + 17.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.56sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497907 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497907 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248488 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248488 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995315 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995315 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502474.19696522 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.32sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791502474.83428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 23:34:35.158] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 23:34:35.158] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476542 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476542 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616429 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616429 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153413 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153413 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715471 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715471 ms (missed cycles : 4).[0m ×2 + 7.73sINFOros2_control_node[2026-10-08 23:34:39.168] [info] Received new action goal ×2 + 7.73sINFOros2_control_node[2026-10-08 23:34:39.168] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920508 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920508 ms (missed cycles : 3).[0m ×2 + 9.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698357 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698357 ms (missed cycles : 3).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392800 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392800 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915362 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915362 ms (missed cycles : 4).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988276 ms (missed cycles : 5). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988276 ms (missed cycles : 5).[0m ×2 + 13.31sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791502484.75140762 seconds ×3 + 13.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.86sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764478 ms (missed cycles : 4). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764478 ms (missed cycles : 4).[0m ×2 + 13.94sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791502485.38354683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 14.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.08sINFOros2_control_node[2026-10-08 23:34:45.517] [info] Received new action goal ×2 + 14.08sINFOros2_control_node[2026-10-08 23:34:45.517] [info] Accepted new action goal ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718490 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718490 ms (missed cycles : 2).[0m ×2 + 15.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 15.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927938 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927938 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.3s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.79sINFOobjective_server_nodecaller: ×8 + 2.79sINFOobjective_server_nodetype: 0 ×8 + 2.79sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6).[0m ×2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174889 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174889 ms (missed cycles : 2).[0m ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 1 iterations (0.00373411 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.12sINFOros2_control_node[2026-10-08 23:30:55.568] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-10-08 23:30:55.568] [info] Accepted new action goal ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625119 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625119 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395567 ms (missed cycles : 5). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395567 ms (missed cycles : 5).[0m ×2 + 10.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.42sINFOros2_control_node[2026-10-08 23:30:57.871] [info] Received new action goal ×2 + 10.42sINFOros2_control_node[2026-10-08 23:30:57.871] [info] Accepted new action goal ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754649 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754649 ms (missed cycles : 3).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 12.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.06sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 12.06sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 13.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 13.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.89sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.71sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 14.82sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.83sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 16.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791502326.20777345 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791502326.91822982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791502326.98836589 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.83sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 6.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 7.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 7.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.74sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 8.06sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.2s | 3 errors · 32 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_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 + 3.27sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502544.19729280 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.85sINFOobjective_server_nodecaller: ×8 + 3.85sINFOobjective_server_nodetype: 0 ×8 + 3.85sINFOobjective_server_nodename: "" ×8 + 3.85sINFOobjective_server_nodeinstance_id: "" ×8 + 3.85sINFOobjective_server_node ×8 + 3.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502544.82913423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502546.42926908 seconds ×3 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791502547.03630805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791502547.03827095 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791502547.64640069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791502547.65722752 seconds ×3 + 7.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.28sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502548.26755142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3).[0m ×2 + 8.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502549.03769040 seconds ×3 + 8.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212244 ms (missed cycles : 2). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 32 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 0.42sWARNobjective_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 + 0.68sWARNros2_control_nodeCamera render tick took 1.98 s (budget 0.100 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 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6).[0m ×2 + 1.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.85sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×17 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.85sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.47sINFOobjective_server_nodecaller: ×14 + 2.47sINFOobjective_server_nodetype: 0 ×14 + 2.47sINFOobjective_server_nodename: "" ×14 + 2.47sINFOobjective_server_nodeinstance_id: "" ×14 + 2.47sINFOobjective_server_node ×14 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 5.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 7.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.90sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 7.90sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5).[0m ×2 + 0.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.33sINFOobjective_server_nodecaller: ×6 + 3.33sINFOobjective_server_nodetype: 0 ×6 + 3.33sINFOobjective_server_nodename: "" ×6 + 3.33sINFOobjective_server_nodeinstance_id: "" ×6 + 3.33sINFOobjective_server_node ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6).[0m ×2 + 6.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.8s | 25 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791502326.20777345 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.08sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.08sINFOobjective_server_nodecaller: ×4 + 3.08sINFOobjective_server_nodetype: 0 ×4 + 3.08sINFOobjective_server_nodename: "" ×4 + 3.08sINFOobjective_server_nodeinstance_id: "" ×4 + 3.08sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791502326.91822982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791502326.98836589 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.83sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 6.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOros2_control_node[2026-10-08 23:30:57.871] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 23:30:57.871] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754649 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754649 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 5.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.36sINFOobjective_server_nodecaller: ×14 + 1.36sINFOobjective_server_nodetype: 0 ×14 + 1.36sINFOobjective_server_nodename: "" ×14 + 1.36sINFOobjective_server_nodeinstance_id: "" ×14 + 1.36sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 6.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.48sINFOobjective_server_nodecaller: ×6 + 2.48sINFOobjective_server_nodetype: 0 ×6 + 2.48sINFOobjective_server_nodename: "" ×6 + 2.48sINFOobjective_server_nodeinstance_id: "" ×6 + 2.48sINFOobjective_server_node ×6 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.40sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4).[0m ×2 + 0.12sINFOobjective_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 + 0.12sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Got request to cancel active goal. ×2 + 0.12sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Canceling active goal... ×2 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502544.19729280 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.70sINFOobjective_server_nodecaller: ×8 + 0.70sINFOobjective_server_nodetype: 0 ×8 + 0.70sINFOobjective_server_nodename: "" ×8 + 0.70sINFOobjective_server_nodeinstance_id: "" ×8 + 0.70sINFOobjective_server_node ×8 + 0.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502544.82913423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502546.42926908 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791502547.03630805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791502547.03827095 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791502547.64640069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791502547.65722752 seconds ×3 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502548.26755142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502549.03769040 seconds ×3 + 5.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212244 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212244 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860664 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860664 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4).[0m ×2 + 1.12sINFOobjective_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 + 1.13sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Got request to cancel active goal. ×2 + 1.13sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Canceling active goal... ×2 + 1.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502544.19729280 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.70sINFOobjective_server_nodecaller: ×8 + 1.70sINFOobjective_server_nodetype: 0 ×8 + 1.70sINFOobjective_server_nodename: "" ×8 + 1.70sINFOobjective_server_nodeinstance_id: "" ×8 + 1.70sINFOobjective_server_node ×8 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502544.82913423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502546.42926908 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791502547.03630805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791502547.03827095 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791502547.64640069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791502547.65722752 seconds ×3 + 4.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502548.26755142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126484 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502549.03769040 seconds ×3 + 6.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212244 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212244 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 20 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5).[0m ×2 + 0.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.33sINFOobjective_server_nodecaller: ×6 + 3.33sINFOobjective_server_nodetype: 0 ×6 + 3.33sINFOobjective_server_nodename: "" ×6 + 3.33sINFOobjective_server_nodeinstance_id: "" ×6 + 3.33sINFOobjective_server_node ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 0.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502452.40468025 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791502453.12108064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687743 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519488 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292928 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502249.68750811 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791502250.30305386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791502250.41318011 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076740 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791502251.08730173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-10-08 23:30:51.311] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460863 ms (missed cycles : 4).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376266 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117037 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 0.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 0.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 0.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035078 ms (missed cycles : 2).[0m ×2 + 0.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-10-08 23:30:59.513] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867486 ms (missed cycles : 7).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791502260.81012702 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583682 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791502261.44627571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791502261.49648046 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791502262.15907550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482675 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-10-08 23:31:02.283] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643458 ms (missed cycles : 3).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826008 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226999 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-10-08 23:31:10.331] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376829 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681494 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-10-08 23:31:12.189] [info] Canceling active goal... ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502272.20762134 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791502272.86367989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451849 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-08 23:31:13.068] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721886 ms (missed cycles : 7).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00356669 s). ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254313 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254313 ms (missed cycles : 2).[0m ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-10-08 23:31:32.140] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-10-08 23:31:32.140] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-10-08 23:31:32.572] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-08 23:31:32.572] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602668 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602668 ms (missed cycles : 4).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960419 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960419 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_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 + 2.55sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.55sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502294.33782673 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384551 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384551 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791502295.13572049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877065 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877065 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.42sINFOros2_control_node[2026-10-08 23:31:36.170] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-08 23:31:36.170] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317400 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317400 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454895 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278786 ms (missed cycles : 6).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665981 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791502326.20777345 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.08sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.08sINFOobjective_server_nodecaller: ×4 + 3.08sINFOobjective_server_nodetype: 0 ×4 + 3.08sINFOobjective_server_nodename: "" ×4 + 3.08sINFOobjective_server_nodeinstance_id: "" ×4 + 3.08sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791502326.91822982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791502326.98836589 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849391 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.83sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791502327.60595798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-08 23:32:07.730] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621884 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440390 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791502329.73611116 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887556 ms (missed cycles : 4).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255961 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791502331.42345357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-10-08 23:32:11.841] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411987 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799122 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992634 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693634 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693634 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325560 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325560 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791502385.67778468 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.88sINFOobjective_server_nodecaller: ×2 + 2.88sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791502386.30597973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.16sINFOros2_control_node[2026-10-08 23:33:06.500] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-08 23:33:06.500] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564794 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564794 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.44sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875301 ms (missed cycles : 7). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.875301 ms (missed cycles : 7).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623920 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502452.40468025 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791502453.12108064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502452.40468025 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791502453.12108064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502452.40468025 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791502453.12108064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917773 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448603 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210510 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777958 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791502452.40468025 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791502453.12108064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-08 23:34:13.335] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105155 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762870 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878224 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345430 ms (missed cycles : 4).[0m ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-10-08 23:34:20.951] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.530611 ms (missed cycles : 8).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-10-08 23:34:22.605] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862611 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-10-08 23:34:23.191] [info] Canceling active goal... ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502463.20666265 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791502463.89043474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-10-08 23:34:24.075] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773200 ms (missed cycles : 4).[0m ×2 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423462 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497907 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497907 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248488 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248488 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995315 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995315 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502474.19696522 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.32sINFOobjective_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 + 3.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791502474.83428335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 23:34:35.158] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 23:34:35.158] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476542 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476542 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616429 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616429 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392800 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392800 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915362 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915362 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988276 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988276 ms (missed cycles : 5).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791502484.75140762 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764478 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764478 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791502485.38354683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-08 23:34:45.517] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-08 23:34:45.517] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718490 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718490 ms (missed cycles : 2).[0m ×2 + 4.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927938 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927938 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911138 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752675 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752675 ms (missed cycles : 3).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851712 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851712 ms (missed cycles : 5).[0m ×2 + 3.07sINFOobjective_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 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502495.69388485 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326728 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326728 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791502496.33658743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148897 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148897 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-10-08 23:34:57.361] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-10-08 23:34:57.361] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015908 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015908 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213919 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213919 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 20 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5).[0m ×2 + 0.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.33sINFOobjective_server_nodecaller: ×6 + 3.33sINFOobjective_server_nodetype: 0 ×6 + 3.33sINFOobjective_server_nodename: "" ×6 + 3.33sINFOobjective_server_nodeinstance_id: "" ×6 + 3.33sINFOobjective_server_node ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 20 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974553 ms (missed cycles : 5).[0m ×2 + 0.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.33sINFOobjective_server_nodecaller: ×6 + 3.33sINFOobjective_server_nodetype: 0 ×6 + 3.33sINFOobjective_server_nodename: "" ×6 + 3.33sINFOobjective_server_nodeinstance_id: "" ×6 + 3.33sINFOobjective_server_node ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.48sINFOobjective_server_nodecaller: ×6 + 2.48sINFOobjective_server_nodetype: 0 ×6 + 2.48sINFOobjective_server_nodename: "" ×6 + 2.48sINFOobjective_server_nodeinstance_id: "" ×6 + 2.48sINFOobjective_server_node ×6 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.40sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.48sINFOobjective_server_nodecaller: ×6 + 2.48sINFOobjective_server_nodetype: 0 ×6 + 2.48sINFOobjective_server_nodename: "" ×6 + 2.48sINFOobjective_server_nodeinstance_id: "" ×6 + 2.48sINFOobjective_server_node ×6 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.40sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.48sINFOobjective_server_nodecaller: ×6 + 2.48sINFOobjective_server_nodetype: 0 ×6 + 2.48sINFOobjective_server_nodename: "" ×6 + 2.48sINFOobjective_server_nodeinstance_id: "" ×6 + 2.48sINFOobjective_server_node ×6 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.40sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318713 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421058 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791502531.90743446 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.48sINFOobjective_server_nodecaller: ×6 + 2.48sINFOobjective_server_nodetype: 0 ×6 + 2.48sINFOobjective_server_nodename: "" ×6 + 2.48sINFOobjective_server_nodeinstance_id: "" ×6 + 2.48sINFOobjective_server_node ×6 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373506 ms (missed cycles : 6).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791502532.74345374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791502532.82358432 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.40sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791502533.42864132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791502533.45091319 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112799 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791502534.18111610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-08 23:35:34.306] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794939 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807323 ms (missed cycles : 6).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 157 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_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 + 3.27sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502544.19729280 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.85sINFOobjective_server_nodecaller: ×6 + 3.85sINFOobjective_server_nodetype: 0 ×6 + 3.85sINFOobjective_server_nodename: "" ×6 + 3.85sINFOobjective_server_nodeinstance_id: "" ×6 + 3.85sINFOobjective_server_node ×6 + 3.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502544.82913423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502546.42926908 seconds ×3 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791502547.03630805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791502547.03827095 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 157 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883720 ms (missed cycles : 2).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530156 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368367 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858502 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_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 + 3.27sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-10-08 23:35:44.191] [info] Canceling active goal... ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502544.19729280 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.85sINFOobjective_server_nodecaller: ×6 + 3.85sINFOobjective_server_nodetype: 0 ×6 + 3.85sINFOobjective_server_nodename: "" ×6 + 3.85sINFOobjective_server_nodeinstance_id: "" ×6 + 3.85sINFOobjective_server_node ×6 + 3.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502544.82913423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576496 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915870 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502546.42926908 seconds ×3 + 6.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791502547.03630805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791502547.03827095 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153630 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 10.8s | 51 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-08-23-30-12-612416-2bf584aa133d-7907 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_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. + 0.88sINFOros2_control_node-1process started with pid [7955] ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451030 ms (missed cycles : 6). + 0.88sINFOmove_group-9process started with pid [7992] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [7993] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [7994] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [7995] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [7996] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [7999] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [8000] ×2 + 0.89sINFOcomponent_container_mt-16process started with pid [8003] ×2 + 0.89sINFOexecute_objective_bridge-17process started with pid [8004] ×2 + 0.89sINFOui_teleop_bridge-18process started with pid [8013] ×2 + 0.89sINFOweb_bridge-19process started with pid [8016] ×2 + 0.89sINFOtf_visualization_relay-20process started with pid [8080] ×2 + 0.89sINFOjoint_state_visualization_relay-21process started with pid [8081] ×2 + 0.89sINFOtf2_web_republisher_node-22process started with pid [8082] ×2 + 0.89sINFOvideo_server-23process started with pid [8083] ×2 + 0.89sINFOweb_bridge_auth_proxy-24process started with pid [8084] ×2 + 0.89sINFOweb_video_auth_proxy-25process started with pid [8085] ×2 + 0.90sINFOros2-2process started with pid [7956] ×2 + 0.90sINFOros2-3process started with pid [7957] ×2 + 0.90sINFOros2-4process started with pid [7958] ×2 + 0.90sINFOros2-5process started with pid [7959] ×2 + 0.90sINFOros2-6process started with pid [7960] ×2 + 0.90sINFOros2-7process started with pid [7961] ×2 + 0.90sINFOros2-8process started with pid [7962] ×2 + 0.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.92sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.92sWARNros2_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 + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451030 ms (missed cycles : 6).[0m ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF configuration loaded from /tmp/moveit-webrtc-_ol7ikyr/mediamtx.yml ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.65sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394982 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394982 ms (missed cycles : 3).[0m ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.10sINFOros2_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 + 2.10sINFOros2_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 + 2.13sINFOwaypoint_manager_node[2026-10-08 23:30:15.127] [moveit_pro_license] [info] ×2 + 2.13sINFOwaypoint_manager_node************************************************* ×4 + 2.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOmove_group[2026-10-08 23:30:15.134] [moveit_pro_license] [info] ×2 + 2.14sINFOmove_group************************************************* ×4 + 2.14sINFOmove_group* MoveIt Pro License ×2 + 2.14sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.23sINFOweb_video_auth_proxy2026-10-08 23:30:15,224 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.23sINFOweb_video_auth_proxy2026-10-08 23:30:15,231 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.24sINFOweb_bridge_auth_proxy2026-10-08 23:30:15,235 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.49sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.71sINFOmove_group ×4 + 2.71sINFOmove_group[92mYou can start planning now![0m ×2 + 3.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.55sINFOobjective_server_node[2026-10-08 23:30:16.551] [moveit_pro_license] [info] ×2 + 3.55sINFOobjective_server_node************************************************* ×4 + 3.55sINFOobjective_server_node* MoveIt Pro License ×2 + 3.55sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.67sINFOobjective_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 + 3.67sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.69sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.19sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.19sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 4.19sWARNros2_control_node16 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 + 4.19sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.19sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.19sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.19sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.19sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.19sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.19sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.19sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.19sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.19sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.19sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.19sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.36sINFOcomponent_container_mt[2026-10-08 23:30:17.362] [moveit_pro_license] [info] ×2 + 4.36sINFOcomponent_container_mt************************************************* ×4 + 4.36sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.36sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css + 4.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css [0m ×2 + 4.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.57sINFOros2_control_node[2026-10-08 23:30:17.569] [info] Controller state will be published at 20 Hz. ×2 + 4.57sINFOros2_control_node[2026-10-08 23:30:17.570] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.68sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.68sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.71sINFOros2_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 + 4.71sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.71sWARNros2_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 + 4.83sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.83sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css + 4.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css [0m ×2 + 4.87sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.87sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.88sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.89sINFOros2-8process has finished cleanly [pid 7962] ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194680 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194680 ms (missed cycles : 2).[0m ×2 + 5.18sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.18sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.18sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.18sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.18sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css + 5.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css [0m ×2 + 5.20sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.20sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.22sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.22sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.23sINFOros2-4process has finished cleanly [pid 7958] ×2 + 5.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.23sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.51sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.51sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.51sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.57sINFOros2-3process has finished cleanly [pid 7957] ×2 + 5.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css + 5.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css [0m ×2 + 5.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.65sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.65sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.65sINFOros2_control_node[2026-10-08 23:30:18.651] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.65sINFOros2_control_node[2026-10-08 23:30:18.651] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.68sINFOros2_control_node[2026-10-08 23:30:18.676] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.68sINFOros2_control_node[2026-10-08 23:30:18.676] [info] Controller state will be published at 50 Hz. ×2 + 5.69sINFOros2_control_node[2026-10-08 23:30:18.685] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css + 5.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css [0m ×2 + 6.02sINFOros2-6process has finished cleanly [pid 7960] ×2 + 6.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.02sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.02sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.03sINFOforce_torque_sensor_broadcasterconfigure successful + 6.03sINFOros2_control_nodeconfigure successful[0m ×2 + 6.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.36sINFOros2-2process has finished cleanly [pid 7956] ×2 + 6.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css + 6.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css [0m ×2 + 6.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.48sINFOros2_control_node[2026-10-08 23:30:19.481] [info] Controller state will be published at 10 Hz. ×2 + 6.48sINFOros2_control_node[2026-10-08 23:30:19.482] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118931 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118931 ms (missed cycles : 2).[0m ×2 + 6.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css + 6.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ixnrwvfn --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_bldzgnp6 --params-file /tmp/launch_params_sktj0css [0m ×2 + 6.82sINFOros2-7process has finished cleanly [pid 7961] ×2 + 6.88sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.88sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.88sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.88sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.88sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.88sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.88sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.88sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.88sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.89sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.89sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.89sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.89sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.90sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.90sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.20sINFOros2-5process has finished cleanly [pid 7959] ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 8.23sWARNobjective_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 + 8.50sWARNros2_control_nodeCamera render tick took 1.98 s (budget 0.100 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 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6).[0m ×2 + 9.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 9.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 9.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 9.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 9.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 9.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 9.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 9.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 10.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 10.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 10.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 10.29sINFOobjective_server_nodecaller: ×10 + 10.29sINFOobjective_server_nodetype: 0 ×10 + 10.29sINFOobjective_server_nodename: "" ×10 + 10.29sINFOobjective_server_nodeinstance_id: "" ×10 + 10.29sINFOobjective_server_node ×10 + 10.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 10.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 10.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 10.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 11.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 12.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 12.51sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 13.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 13.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 14.21sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.9s | 23 warnings · 389 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 3.92sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.43sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 5.43sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 7.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 4.59sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.10sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 6.10sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 173 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-08-23-30-12-612416-2bf584aa133d-7907 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_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. + 0.88sINFOros2_control_node-1process started with pid [7955] ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451030 ms (missed cycles : 6). + 0.88sINFOmove_group-9process started with pid [7992] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [7993] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [7994] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [7995] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [7996] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [7999] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [8000] ×2 + 0.89sINFOcomponent_container_mt-16process started with pid [8003] ×2 + 0.89sINFOexecute_objective_bridge-17process started with pid [8004] ×2 + 0.89sINFOui_teleop_bridge-18process started with pid [8013] ×2 + 0.89sINFOweb_bridge-19process started with pid [8016] ×2 + 0.89sINFOtf_visualization_relay-20process started with pid [8080] ×2 + 0.89sINFOjoint_state_visualization_relay-21process started with pid [8081] ×2 + 0.89sINFOtf2_web_republisher_node-22process started with pid [8082] ×2 + 0.89sINFOvideo_server-23process started with pid [8083] ×2 + 0.89sINFOweb_bridge_auth_proxy-24process started with pid [8084] ×2 + 0.89sINFOweb_video_auth_proxy-25process started with pid [8085] ×2 + 0.90sINFOros2-2process started with pid [7956] ×2 + 0.90sINFOros2-3process started with pid [7957] ×2 + 0.90sINFOros2-4process started with pid [7958] ×2 + 0.90sINFOros2-5process started with pid [7959] ×2 + 0.90sINFOros2-6process started with pid [7960] ×2 + 0.90sINFOros2-7process started with pid [7961] ×2 + 0.90sINFOros2-8process started with pid [7962] ×2 + 0.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.92sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.92sWARNros2_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 + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451030 ms (missed cycles : 6).[0m ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF configuration loaded from /tmp/moveit-webrtc-_ol7ikyr/mediamtx.yml ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.24sINFOvideo_server2026/10/08 23:30:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.65sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394982 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394982 ms (missed cycles : 3).[0m ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.10sINFOros2_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 + 2.10sINFOros2_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 + 2.13sINFOwaypoint_manager_node[2026-10-08 23:30:15.127] [moveit_pro_license] [info] ×2 + 2.13sINFOwaypoint_manager_node************************************************* ×4 + 2.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOmove_group[2026-10-08 23:30:15.134] [moveit_pro_license] [info] ×2 + 2.14sINFOmove_group************************************************* ×4 + 2.14sINFOmove_group* MoveIt Pro License ×2 + 2.14sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.23sINFOweb_video_auth_proxy2026-10-08 23:30:15,224 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.23sINFOweb_video_auth_proxy2026-10-08 23:30:15,231 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.24sINFOweb_bridge_auth_proxy2026-10-08 23:30:15,235 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.49sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.71sINFOmove_group ×4 + 2.71sINFOmove_group[92mYou can start planning now![0m ×2 + 3.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.55sINFOobjective_server_node[2026-10-08 23:30:16.551] [moveit_pro_license] [info] ×2 + 3.55sINFOobjective_server_node************************************************* ×4 + 3.55sINFOobjective_server_node* MoveIt Pro License ×2 + 3.55sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.36sINFOobjective_server_nodecaller: ×14 + 1.36sINFOobjective_server_nodetype: 0 ×14 + 1.36sINFOobjective_server_nodename: "" ×14 + 1.36sINFOobjective_server_nodeinstance_id: "" ×14 + 1.36sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 6.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.36sINFOobjective_server_nodecaller: ×14 + 1.36sINFOobjective_server_nodetype: 0 ×14 + 1.36sINFOobjective_server_nodename: "" ×14 + 1.36sINFOobjective_server_nodeinstance_id: "" ×14 + 1.36sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 6.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481096 ms (missed cycles : 6).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.36sINFOobjective_server_nodecaller: ×14 + 1.36sINFOobjective_server_nodetype: 0 ×14 + 1.36sINFOobjective_server_nodename: "" ×14 + 1.36sINFOobjective_server_nodeinstance_id: "" ×14 + 1.36sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 6.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427540 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 4.59sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.10sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 6.10sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502223.34787512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502223.35806656 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791502223.96707034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780252 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 3.92sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.43sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 5.43sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 23 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.38sINFOros2_control_node[2026-10-08 23:30:31.259] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-10-08 23:30:31.259] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699627 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699627 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791502224.87722039 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567998 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791502225.51179647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791502225.57195115 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371147 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502226.23387051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502226.25399947 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502226.96880651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502227.11966586 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706112 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502227.80993772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502227.86007142 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159864 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791502228.58261251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.9323e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-08 23:30:28.719] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839544 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017484 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||