136
Total objective tests
34
Objectives passed
0
Objectives failed
102
Objectives skipped
10.0s
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 | 44.5s | 158 warnings · 31596 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679848 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679848 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488401 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488401 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556558 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556558 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791573477.44995975 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOobjective_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: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791573478.04280400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938677 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938677 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.27sINFOros2_control_node[2026-10-09 19:17:58.197] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-10-09 19:17:58.197] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024534 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024534 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_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 + 4.55sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.61sINFOobjective_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 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945785 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945785 ms (missed cycles : 2).[0m ×2 + 5.64sWARNros2_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 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×5222 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×5222 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×10444 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×10444 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547081 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547081 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679608 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679608 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041283 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041283 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346521 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346521 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670417 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670417 ms (missed cycles : 3).[0m ×2 + 11.62sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.62sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.62sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.62sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269888 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269888 ms (missed cycles : 2).[0m ×2 + 11.63sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913101 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913101 ms (missed cycles : 2).[0m ×2 + 13.68sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190204 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190204 ms (missed cycles : 3).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713987 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713987 ms (missed cycles : 2).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777743 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777743 ms (missed cycles : 2).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000103 ms (missed cycles : 5). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000103 ms (missed cycles : 5).[0m ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835108 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835108 ms (missed cycles : 2).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681786 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681786 ms (missed cycles : 2).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750032 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750032 ms (missed cycles : 2).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505096 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505096 ms (missed cycles : 3).[0m ×2 + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803880 ms (missed cycles : 3). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803880 ms (missed cycles : 3).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963537 ms (missed cycles : 4). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963537 ms (missed cycles : 4).[0m ×2 + 24.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457337 ms (missed cycles : 4). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457337 ms (missed cycles : 4).[0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104818 ms (missed cycles : 2). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104818 ms (missed cycles : 2).[0m ×2 + 26.60sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148646 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148646 ms (missed cycles : 3).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105649 ms (missed cycles : 2). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105649 ms (missed cycles : 2).[0m ×2 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496880 ms (missed cycles : 3). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496880 ms (missed cycles : 3).[0m ×2 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642024 ms (missed cycles : 2). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642024 ms (missed cycles : 2).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523455 ms (missed cycles : 2). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523455 ms (missed cycles : 2).[0m ×2 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729375 ms (missed cycles : 3). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729375 ms (missed cycles : 3).[0m ×2 + 32.71sWARNros2_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 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569650 ms (missed cycles : 2). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569650 ms (missed cycles : 2).[0m ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895366 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895366 ms (missed cycles : 2).[0m ×2 + 35.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794570 ms (missed cycles : 2). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794570 ms (missed cycles : 2).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212579 ms (missed cycles : 2). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212579 ms (missed cycles : 2).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173675 ms (missed cycles : 3). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173675 ms (missed cycles : 3).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140555 ms (missed cycles : 2). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140555 ms (missed cycles : 2).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798671 ms (missed cycles : 4). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798671 ms (missed cycles : 4).[0m ×2 + 40.69sWARNros2_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 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901668 ms (missed cycles : 2). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901668 ms (missed cycles : 2).[0m ×2 + 42.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754660 ms (missed cycles : 2). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754660 ms (missed cycles : 2).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525204 ms (missed cycles : 3). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525204 ms (missed cycles : 3).[0m ×2 + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580587 ms (missed cycles : 6). + 44.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580587 ms (missed cycles : 6).[0m ×2 + 45.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874443 ms (missed cycles : 3). + 45.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874443 ms (missed cycles : 3).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425201 ms (missed cycles : 3). + 46.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425201 ms (missed cycles : 3).[0m ×2 + 47.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573521.92685938 seconds ×3 + 47.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.55sINFOobjective_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: ""
+ 47.55sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791573522.54971170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925900 ms (missed cycles : 2). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925900 ms (missed cycles : 2).[0m ×2 + 47.67sINFOobjective_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 + 47.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.75sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 47.75sINFOros2_control_node[2026-10-09 19:18:42.674] [info] Received new action goal ×2 + 47.75sINFOros2_control_node[2026-10-09 19:18:42.674] [info] Accepted new action goal ×2 + 48.48sWARNros2_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 + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545247 ms (missed cycles : 5). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545247 ms (missed cycles : 5).[0m ×2 + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691072 ms (missed cycles : 3). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691072 ms (missed cycles : 3).[0m ×2 + 50.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831644 ms (missed cycles : 2). + 50.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831644 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.4s | 153 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858539 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858539 ms (missed cycles : 3).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286913 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286913 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972433 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972433 ms (missed cycles : 2).[0m ×2 + 9.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×6 + 10.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.10sINFOros2_control_node[2026-10-09 19:17:10.566] [info] Received new action goal ×2 + 10.10sINFOros2_control_node[2026-10-09 19:17:10.566] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568783 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568783 ms (missed cycles : 3).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864444 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864444 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284595 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284595 ms (missed cycles : 2).[0m ×2 + 13.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 13.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.09sINFOros2_control_node[2026-10-09 19:17:13.559] [info] Received new action goal ×2 + 13.09sINFOros2_control_node[2026-10-09 19:17:13.559] [info] Accepted new action goal ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658762 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658762 ms (missed cycles : 2).[0m ×2 + 14.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959700 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959700 ms (missed cycles : 2).[0m ×2 + 16.04sINFOobjective_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 + 16.04sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.04sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.05sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.05sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248134 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248134 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624307 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624307 ms (missed cycles : 3).[0m ×2 + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924417 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924417 ms (missed cycles : 2).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075223 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075223 ms (missed cycles : 2).[0m ×2 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167521 ms (missed cycles : 4). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167521 ms (missed cycles : 4).[0m ×2 + 21.05sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522951 ms (missed cycles : 5). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522951 ms (missed cycles : 5).[0m ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797468 ms (missed cycles : 3). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797468 ms (missed cycles : 3).[0m ×2 + 22.85sINFOobjective_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 + 22.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.85sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.85sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.85sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.85sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.76sINFOros2_control_node[2026-10-09 19:17:24.230] [info] Received new action goal ×2 + 23.76sINFOros2_control_node[2026-10-09 19:17:24.230] [info] Accepted new action goal ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093794 ms (missed cycles : 4). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093794 ms (missed cycles : 4).[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050346 ms (missed cycles : 4). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050346 ms (missed cycles : 4).[0m ×2 + 24.93sINFOobjective_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 + 24.94sINFOobjective_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 + 25.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 25.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.24sINFOros2_control_node[2026-10-09 19:17:25.713] [info] Received new action goal ×2 + 25.24sINFOros2_control_node[2026-10-09 19:17:25.713] [info] Accepted new action goal ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435062 ms (missed cycles : 2). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435062 ms (missed cycles : 2).[0m ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737989 ms (missed cycles : 3). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737989 ms (missed cycles : 3).[0m ×2 + 27.35sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 27.35sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.37sINFOros2_control_node[2026-10-09 19:17:27.837] [info] Received new action goal ×2 + 27.37sINFOros2_control_node[2026-10-09 19:17:27.837] [info] Accepted new action goal ×2 + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842683 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842683 ms (missed cycles : 3).[0m ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597552 ms (missed cycles : 4). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597552 ms (missed cycles : 4).[0m ×2 + 30.38sINFOros2_control_node[2026-10-09 19:17:30.852] [info] Received new action goal ×2 + 30.38sINFOros2_control_node[2026-10-09 19:17:30.852] [info] Accepted new action goal ×2 + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497118 ms (missed cycles : 3). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497118 ms (missed cycles : 3).[0m ×2 + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936859 ms (missed cycles : 4). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936859 ms (missed cycles : 4).[0m ×2 + 31.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015718 ms (missed cycles : 2). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015718 ms (missed cycles : 2).[0m ×2 + 32.96sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 32.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.00sINFOros2_control_node[2026-10-09 19:17:33.474] [info] Received new action goal ×2 + 33.00sINFOros2_control_node[2026-10-09 19:17:33.474] [info] Accepted new action goal ×2 + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563123 ms (missed cycles : 3). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563123 ms (missed cycles : 3).[0m ×2 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655756 ms (missed cycles : 4). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655756 ms (missed cycles : 4).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455178 ms (missed cycles : 3). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455178 ms (missed cycles : 3).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781729 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781729 ms (missed cycles : 2).[0m ×2 + 37.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794224 ms (missed cycles : 3). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794224 ms (missed cycles : 3).[0m ×2 + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221470 ms (missed cycles : 3). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221470 ms (missed cycles : 3).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909655 ms (missed cycles : 5). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909655 ms (missed cycles : 5).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716015 ms (missed cycles : 3). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716015 ms (missed cycles : 3).[0m ×2 + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464735 ms (missed cycles : 2). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464735 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215177 ms (missed cycles : 2). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215177 ms (missed cycles : 2).[0m ×2 + 44.31sINFOros2_control_node[2026-10-09 19:17:44.783] [info] Received new action goal ×2 + 44.31sINFOros2_control_node[2026-10-09 19:17:44.783] [info] Accepted new action goal ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842200 ms (missed cycles : 4). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842200 ms (missed cycles : 4).[0m ×2 + 45.48sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791573465.94972706 seconds ×3 + 45.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840728 ms (missed cycles : 4). + 45.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840728 ms (missed cycles : 4).[0m ×2 + 46.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.06sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.25sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791573466.71976948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716986 ms (missed cycles : 2). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716986 ms (missed cycles : 2).[0m ×2 + 47.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 47.26sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.27sINFOros2_control_node[2026-10-09 19:17:47.744] [info] Received new action goal ×2 + 47.27sINFOros2_control_node[2026-10-09 19:17:47.744] [info] Accepted new action goal ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633331 ms (missed cycles : 3). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633331 ms (missed cycles : 3).[0m ×2 + 49.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611436 ms (missed cycles : 3). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611436 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.9s | 3 errors · 128 warnings · 299 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199950 ms (missed cycles : 2).[0m ×2 + 0.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366605 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366605 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235231 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235231 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_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 + 2.77sERRORobjective_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: 1791573587.36560297 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990549 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990549 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.31sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.31sINFOobjective_server_nodecaller: ×8 + 3.31sINFOobjective_server_nodetype: 0 ×8 + 3.31sINFOobjective_server_nodename: "" ×8 + 3.31sINFOobjective_server_nodeinstance_id: "" ×8 + 3.31sINFOobjective_server_node ×8 + 3.38sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791573587.97307730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-10-09 19:19:48.986] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-10-09 19:19:48.986] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998072 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998072 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886384 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886384 ms (missed cycles : 5).[0m ×2 + 6.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877548 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877548 ms (missed cycles : 3).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740723 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740723 ms (missed cycles : 2).[0m ×2 + 8.23sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.24sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.28sINFOros2_control_node[2026-10-09 19:19:52.874] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-10-09 19:19:52.874] [info] Accepted new action goal ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733310 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733310 ms (missed cycles : 3).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793541 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793541 ms (missed cycles : 2).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652519 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652519 ms (missed cycles : 3).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007349 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007349 ms (missed cycles : 2).[0m ×2 + 12.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920759 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920759 ms (missed cycles : 3).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241814 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241814 ms (missed cycles : 3).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442206 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442206 ms (missed cycles : 2).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892435 ms (missed cycles : 4). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892435 ms (missed cycles : 4).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777880 ms (missed cycles : 4). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777880 ms (missed cycles : 4).[0m ×2 + 17.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 17.97sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 17.98sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 17.98sINFOros2_control_node[2026-10-09 19:20:02.580] [info] Received new action goal ×2 + 17.98sINFOros2_control_node[2026-10-09 19:20:02.580] [info] Accepted new action goal ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367473 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367473 ms (missed cycles : 2).[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316408 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316408 ms (missed cycles : 3).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317902 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317902 ms (missed cycles : 3).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077963 ms (missed cycles : 2). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077963 ms (missed cycles : 2).[0m ×2 + 22.90sWARNros2_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 + 23.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579414 ms (missed cycles : 2). + 23.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579414 ms (missed cycles : 2).[0m ×2 + 24.47sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.48sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.52sINFOros2_control_node[2026-10-09 19:20:09.113] [info] Received new action goal ×2 + 24.52sINFOros2_control_node[2026-10-09 19:20:09.113] [info] Accepted new action goal ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174028 ms (missed cycles : 4). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174028 ms (missed cycles : 4).[0m ×2 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473557 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473557 ms (missed cycles : 2).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266601 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266601 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670241 ms (missed cycles : 3). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670241 ms (missed cycles : 3).[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206655 ms (missed cycles : 3). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206655 ms (missed cycles : 3).[0m ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702651 ms (missed cycles : 3). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702651 ms (missed cycles : 3).[0m ×2 + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683028 ms (missed cycles : 3). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683028 ms (missed cycles : 3).[0m ×2 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895503 ms (missed cycles : 3). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895503 ms (missed cycles : 3).[0m ×2 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112986 ms (missed cycles : 5). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112986 ms (missed cycles : 5).[0m ×2 + 33.84sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 33.85sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.86sINFOros2_control_node[2026-10-09 19:20:18.456] [info] Received new action goal ×2 + 33.86sINFOros2_control_node[2026-10-09 19:20:18.456] [info] Accepted new action goal ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012311 ms (missed cycles : 3). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012311 ms (missed cycles : 3).[0m ×2 + 34.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 36.92sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 37.65sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 38.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 39.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 39.11sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.13sINFOobjective_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 + 39.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 39.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.79sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 39.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.93sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 39.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 39.94sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 39.94sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 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 | 22.1s | 87 warnings · 19564 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×3228 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×3228 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×6456 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×6456 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580587 ms (missed cycles : 6). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580587 ms (missed cycles : 6).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874443 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874443 ms (missed cycles : 3).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425201 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425201 ms (missed cycles : 3).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573521.92685938 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.67sINFOobjective_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: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791573522.54971170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925900 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925900 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.87sINFOros2_control_node[2026-10-09 19:18:42.674] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-10-09 19:18:42.674] [info] Accepted new action goal ×2 + 4.60sWARNros2_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 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545247 ms (missed cycles : 5). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545247 ms (missed cycles : 5).[0m ×2 + 5.12sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.18sINFOobjective_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 + 5.20sINFOobjective_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 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691072 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691072 ms (missed cycles : 3).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831644 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831644 ms (missed cycles : 2).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798198 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798198 ms (missed cycles : 2).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363251 ms (missed cycles : 4). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363251 ms (missed cycles : 4).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555612 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555612 ms (missed cycles : 3).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998836 ms (missed cycles : 4). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998836 ms (missed cycles : 4).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406559 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406559 ms (missed cycles : 2).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596917 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596917 ms (missed cycles : 3).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404331 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404331 ms (missed cycles : 3).[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191091 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191091 ms (missed cycles : 2).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635232 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635232 ms (missed cycles : 4).[0m ×2 + 16.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767280 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767280 ms (missed cycles : 2).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802586 ms (missed cycles : 3). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802586 ms (missed cycles : 3).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258818 ms (missed cycles : 2). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258818 ms (missed cycles : 2).[0m ×2 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314415 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314415 ms (missed cycles : 2).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250450 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250450 ms (missed cycles : 3).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3).[0m ×2 + 25.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573544.00501013 seconds ×3 + 25.71sWARNros2_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 + 25.84sINFOobjective_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: ""
+ 25.84sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791573544.72182369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 25.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.09sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 26.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.10sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Received new action goal ×2 + 26.10sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Accepted new action goal ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2).[0m ×2 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2).[0m ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.3s | 3 errors · 82 warnings · 171 info |
+ 0.00sINFOros2_control_node[2026-10-09 19:16:25.002] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-09 19:16:25.002] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643731 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643731 ms (missed cycles : 3).[0m ×2 + 0.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501882 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501882 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-10-09 19:16:27.258] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-10-09 19:16:27.258] [info] Accepted new action goal ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978018 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978018 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_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 + 2.96sINFOros2_control_node[2026-10-09 19:16:27.965] [info] Got request to cancel active goal. ×2 + 2.96sINFOros2_control_node[2026-10-09 19:16:27.965] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1791573387.97940254 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791573388.62605906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474389 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474389 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-10-09 19:16:29.629] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-09 19:16:29.629] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596859 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596859 ms (missed cycles : 5).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673598 ms (missed cycles : 6). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673598 ms (missed cycles : 6).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903983 ms (missed cycles : 4). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903983 ms (missed cycles : 4).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507645 ms (missed cycles : 5). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507645 ms (missed cycles : 5).[0m ×2 + 8.84sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.85sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.89sINFOros2_control_node[2026-10-09 19:16:33.896] [info] Received new action goal ×2 + 8.89sINFOros2_control_node[2026-10-09 19:16:33.896] [info] Accepted new action goal ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417881 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417881 ms (missed cycles : 2).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354138 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354138 ms (missed cycles : 3).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220845 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220845 ms (missed cycles : 3).[0m ×2 + 11.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372910 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372910 ms (missed cycles : 3).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230826 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230826 ms (missed cycles : 4).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233917 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233917 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707236 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707236 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681568 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681568 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400990 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400990 ms (missed cycles : 3).[0m ×2 + 18.30sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.38sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 18.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.40sINFOros2_control_node[2026-10-09 19:16:43.406] [info] Received new action goal ×2 + 18.40sINFOros2_control_node[2026-10-09 19:16:43.406] [info] Accepted new action goal ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158275 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158275 ms (missed cycles : 2).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204031 ms (missed cycles : 4). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204031 ms (missed cycles : 4).[0m ×2 + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740506 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740506 ms (missed cycles : 3).[0m ×2 + 22.32sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791573407.32136941 seconds ×3 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706469 ms (missed cycles : 6). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706469 ms (missed cycles : 6).[0m ×2 + 22.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.86sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 22.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791573407.98700047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.12sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 23.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.14sINFOros2_control_node[2026-10-09 19:16:48.141] [info] Received new action goal ×2 + 23.14sINFOros2_control_node[2026-10-09 19:16:48.141] [info] Accepted new action goal ×2 + 23.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995445 ms (missed cycles : 5). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995445 ms (missed cycles : 5).[0m ×2 + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267239 ms (missed cycles : 3). + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267239 ms (missed cycles : 3).[0m ×2 + 25.46sINFOros2_control_node[2026-10-09 19:16:50.460] [info] Received new action goal ×2 + 25.46sINFOros2_control_node[2026-10-09 19:16:50.460] [info] Accepted new action goal ×2 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431131 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431131 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 77 errors · 39 warnings · 471 info |
+ 0.00sINFOobjective_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 + 0.01sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Canceling active goal... ×2 + 0.01sERRORobjective_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: 1791573634.87391162 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573635.45852757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573636.73866796 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.47sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791573637.33178353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.47sINFOobjective_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 + 2.47sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791573637.33329558 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791573638.05693603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791573638.06766057 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573638.65448546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823162 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823162 ms (missed cycles : 3).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573640.56462789 seconds ×3 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901775 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901775 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617353 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617353 ms (missed cycles : 3).[0m ×2 + 7.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947066 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947066 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206028 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206028 ms (missed cycles : 3).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697410 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697410 ms (missed cycles : 3).[0m ×2 + 11.13sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 11.15sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 11.15sERRORweb_video_auth_proxy-25process has died [pid 8127, 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 + 11.15sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 11.15sERRORweb_bridge_auth_proxy-24process has died [pid 8126, 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 + 11.15sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 11.16sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 11.16sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 11.17sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.17sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.17sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.18sINFOvideo_server-23process has finished cleanly [pid 8124] ×2 + 11.18sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.18sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.19sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.19sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.20sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.20sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.20sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.21sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.21sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.21sINFOcontroller_managerShutdown request received.... + 11.21sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.21sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.21sINFOvideo_server2026/10/09 19:20:46 INF shutting down gracefully ×2 + 11.21sINFOvideo_server2026/10/09 19:20:46 INF [WebRTC] closing ×2 + 11.21sINFOvideo_server2026/10/09 19:20:46 INF [RTSP] closing ×2 + 11.21sINFOvideo_server2026/10/09 19:20:46 INF waiting for running hooks ×2 + 11.21sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.22sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.22sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.22sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.22sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.22sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.22sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.22sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.22sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.22sERRORmove_groupStack trace (most recent call last) in thread 8470: ×2 + 11.22sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.22sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.22sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.22sINFOcontroller_managerShutting down the controller manager. + 11.22sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.22sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.22sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.22sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.22sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.22sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.22sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.22sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.22sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.22sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.22sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9b4d6dcc3, in __clone ×2 + 11.22sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9b4ce0b83, in ×2 + 11.22sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9b4f73db3, in ×2 + 11.22sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fb9b56d9e64, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.22sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb9b5305620, in rclcpp::Rate::sleep() ×2 + 11.22sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb9b5247d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.22sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb9b5209087, in ×2 + 11.22sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9b4f42390, in __cxa_throw ×2 + 11.22sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9b4f2ca54, in std::terminate() ×2 + 11.22sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9b4f420d9, in ×2 + 11.22sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb9b4f2cff4, in ×2 + 11.22sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9b4c6c8fe, in abort ×2 + 11.22sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9b4c8927d, in raise ×2 + 11.22sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb9b4ce2c0c, in pthread_kill ×2 + 11.22sERRORmove_groupAborted (Signal sent by tkill() 8001 0) ×2 + 11.24sERRORmove_group-9process has died [pid 8001, 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_s96t010p --params-file /tmp/launch_params_2l3cs47t --params-file /tmp/launch_params_zj9r9sc8 --params-file /tmp/launch_params_uoxvqn6w --params-file /tmp/launch_params_x1vhck9s --params-file /tmp/launch_params_8lm3q3qg']. ×2 + 11.43sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.43sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.44sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.19sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.19sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.19sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.19sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOjoint_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 + 12.19sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.19sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.19sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.19sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.19sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.19sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.19sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.19sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.19sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.19sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 12.19sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 12.19sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 12.19sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOtf_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 + 12.19sINFOtf_visualization_relayrclpy.spin(node) ×2 + 12.19sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.19sINFOtf_visualization_relayexecutor.spin_once() ×2 + 12.19sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.19sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.20sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.20sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.20sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.20sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.20sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 12.20sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.20sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.20sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 12.20sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.21sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8123] ×2 + 12.21sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.24sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8005] ×2 + 12.24sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8004] ×2 + 12.25sERRORjoint_state_visualization_relay-21process has died [pid 8122, 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_kt1qfqjg']. ×2 + 12.25sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.25sERRORtf_visualization_relay-20process has died [pid 8118, 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_eoht7ze_']. ×2 + 12.25sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.27sINFOexecute_objective_bridge-17process has finished cleanly [pid 8009] ×2 + 12.28sINFOwaypoint_manager_node-11process has finished cleanly [pid 8003] ×2 + 12.28sINFOui_teleop_bridge-18process has finished cleanly [pid 8010] ×2 + 12.29sINFOparameter_manager_node-10process has finished cleanly [pid 8002] ×2 + 12.34sINFOcomponent_container_mt-16process has finished cleanly [pid 8008] ×2 + 12.35sINFOobjective_server_node[0;m[2026-10-09 19:20:47.214] [moveit_pro_license] [info] ×2 + 12.35sINFOobjective_server_node************************************************* ×4 + 12.35sINFOobjective_server_node* MoveIt Pro License ×2 + 12.35sINFOobjective_server_node* Application has successfully terminated ×2 + 12.54sINFOobjective_server_node_main-14process has finished cleanly [pid 8006] ×2 + 12.54sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.38sINFOcomponent_container_mt-15process has finished cleanly [pid 8007] ×2 + 13.62sINFOweb_bridge-19process has finished cleanly [pid 8011] ×2 + 13.62sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.91sINFOros2_control_node-1process has finished cleanly [pid 7950] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 60 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158275 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158275 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204031 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204031 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740506 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740506 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791573407.32136941 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706469 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706469 ms (missed cycles : 6).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.60sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.60sINFOobjective_server_nodecaller: ×6 + 3.60sINFOobjective_server_nodetype: 0 ×6 + 3.60sINFOobjective_server_nodename: "" ×6 + 3.60sINFOobjective_server_nodeinstance_id: "" ×6 + 3.60sINFOobjective_server_node ×6 + 3.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791573407.98700047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.88sINFOros2_control_node[2026-10-09 19:16:48.141] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-09 19:16:48.141] [info] Accepted new action goal ×2 + 4.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995445 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995445 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267239 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267239 ms (missed cycles : 3).[0m ×2 + 6.20sINFOros2_control_node[2026-10-09 19:16:50.460] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-10-09 19:16:50.460] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431131 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431131 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341900 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341900 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438207 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438207 ms (missed cycles : 2).[0m ×2 + 9.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985595 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985595 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786041 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786041 ms (missed cycles : 4).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161247 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161247 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2).[0m ×2 + 14.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791573419.03264117 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3).[0m ×2 + 15.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.31sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791573419.61641717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791573419.68655705 seconds ×3 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2).[0m ×2 + 16.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.16sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.21sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.29sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 16.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.30sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 16.30sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 18.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 62 warnings · 628 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464735 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464735 ms (missed cycles : 2).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sINFOobjective_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 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215177 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215177 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-10-09 19:17:44.783] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-10-09 19:17:44.783] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842200 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842200 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791573465.94972706 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840728 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840728 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791573466.71976948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716986 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716986 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.88sINFOros2_control_node[2026-10-09 19:17:47.744] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-10-09 19:17:47.744] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633331 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633331 ms (missed cycles : 3).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611436 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611436 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672123 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672123 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_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 + 8.57sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.57sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.57sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.58sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285900 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285900 ms (missed cycles : 4).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674340 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674340 ms (missed cycles : 3).[0m ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 10.96sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.98sINFOros2_control_node[2026-10-09 19:17:53.844] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-10-09 19:17:53.844] [info] Accepted new action goal ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972302 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972302 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679848 ms (missed cycles : 2). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679848 ms (missed cycles : 2).[0m ×2 + 12.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488401 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488401 ms (missed cycles : 2).[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556558 ms (missed cycles : 5). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556558 ms (missed cycles : 5).[0m ×2 + 14.58sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791573477.44995975 seconds ×3 + 15.12sINFOobjective_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: ""
+ 15.12sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791573478.04280400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938677 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938677 ms (missed cycles : 2).[0m ×2 + 15.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.33sINFOros2_control_node[2026-10-09 19:17:58.197] [info] Received new action goal ×2 + 15.33sINFOros2_control_node[2026-10-09 19:17:58.197] [info] Accepted new action goal ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024534 ms (missed cycles : 4). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024534 ms (missed cycles : 4).[0m ×2 + 16.59sINFOobjective_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 + 16.60sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945785 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945785 ms (missed cycles : 2).[0m ×2 + 17.69sWARNros2_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 + 18.02sINFOjoint_trajectory_controllerReceived new action goal ×68 + 18.02sINFOjoint_trajectory_controllerAccepted new action goal ×68 + 18.02sINFOros2_control_nodeReceived new action goal[0m ×136 + 18.02sINFOros2_control_nodeAccepted new action goal[0m ×136 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547081 ms (missed cycles : 3). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547081 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 57 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.38sINFOobjective_server_nodecaller: ×6 + 2.38sINFOobjective_server_nodetype: 0 ×6 + 2.38sINFOobjective_server_nodename: "" ×6 + 2.38sINFOobjective_server_nodeinstance_id: "" ×6 + 2.38sINFOobjective_server_node ×6 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035439 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035439 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X________X] ×8 + 6.63sINFOros2_control_node[2026-10-09 19:15:58.803] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-10-09 19:15:58.803] [info] Accepted new action goal ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866922 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866922 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731046 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731046 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.95sINFOros2_control_node[2026-10-09 19:16:01.121] [info] Received new action goal ×2 + 8.95sINFOros2_control_node[2026-10-09 19:16:01.121] [info] Accepted new action goal ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076517 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076517 ms (missed cycles : 4).[0m ×2 + 10.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 11.28sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 13.59sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.60sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 13.60sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 13.79sINFOobjective_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 + 13.80sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 13.80sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1791573365.97247815 seconds ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 14.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.63sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 14.63sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 3 errors · 56 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068637 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068637 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778376 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778376 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958897 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958897 ms (missed cycles : 2).[0m ×2 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028892 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028892 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791573377.50497556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.68sINFOros2_control_node[2026-10-09 19:16:17.698] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-10-09 19:16:17.698] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401505 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401505 ms (missed cycles : 3).[0m ×2 + 5.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231037 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231037 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958680 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958680 ms (missed cycles : 2).[0m ×2 + 6.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 7.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.35sINFOobjective_server_nodeFound path in 5 iterations (0.00330368 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 7.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.78sINFOros2_control_node[2026-10-09 19:16:21.792] [info] Received new action goal ×2 + 7.78sINFOros2_control_node[2026-10-09 19:16:21.792] [info] Accepted new action goal ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260196 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260196 ms (missed cycles : 2).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977296 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977296 ms (missed cycles : 2).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639182 ms (missed cycles : 3). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639182 ms (missed cycles : 3).[0m ×2 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 10.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.38sINFOobjective_server_nodeFound path in 1 iterations (0.00201112 s). ×2 + 10.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 10.56sINFOros2_control_node[2026-10-09 19:16:24.571] [info] Received new action goal ×2 + 10.56sINFOros2_control_node[2026-10-09 19:16:24.571] [info] Accepted new action goal ×2 + 10.99sINFOros2_control_node[2026-10-09 19:16:25.002] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-10-09 19:16:25.002] [info] Accepted new action goal ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643731 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643731 ms (missed cycles : 3).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501882 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501882 ms (missed cycles : 3).[0m ×2 + 13.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.24sINFOros2_control_node[2026-10-09 19:16:27.258] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-10-09 19:16:27.258] [info] Accepted new action goal ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978018 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978018 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_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 + 13.95sINFOros2_control_node[2026-10-09 19:16:27.965] [info] Got request to cancel active goal. ×2 + 13.95sINFOros2_control_node[2026-10-09 19:16:27.965] [info] Canceling active goal... ×2 + 13.96sERRORobjective_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: 1791573387.97940254 seconds ×3 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.61sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791573388.62605906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474389 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474389 ms (missed cycles : 2).[0m ×2 + 15.61sINFOros2_control_node[2026-10-09 19:16:29.629] [info] Received new action goal ×2 + 15.61sINFOros2_control_node[2026-10-09 19:16:29.629] [info] Accepted new action goal ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596859 ms (missed cycles : 5). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596859 ms (missed cycles : 5).[0m ×2 + 16.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673598 ms (missed cycles : 6). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673598 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 54 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550169 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550169 ms (missed cycles : 2).[0m ×2 + 0.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503017 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503017 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370899 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370899 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791573576.28247905 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791573576.88532138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.15sINFOros2_control_node[2026-10-09 19:19:37.000] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-09 19:19:37.000] [info] Accepted new action goal ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945421 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945421 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725108 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725108 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029015 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029015 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195271 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195271 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520390 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520390 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200249 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200249 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288303 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288303 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199950 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199950 ms (missed cycles : 2).[0m ×2 + 11.54sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366605 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366605 ms (missed cycles : 3).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235231 ms (missed cycles : 4). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235231 ms (missed cycles : 4).[0m ×2 + 13.52sINFOobjective_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 + 13.52sERRORobjective_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: 1791573587.36560297 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990549 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990549 ms (missed cycles : 2).[0m ×2 + 14.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.06sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.13sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791573587.97307730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 15.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.14sINFOros2_control_node[2026-10-09 19:19:48.986] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-10-09 19:19:48.986] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998072 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998072 ms (missed cycles : 3).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886384 ms (missed cycles : 5). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886384 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 3 errors · 60 warnings · 390 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.26sINFOobjective_server_nodecaller: ×12 + 2.26sINFOobjective_server_nodetype: 0 ×12 + 2.26sINFOobjective_server_nodename: "" ×12 + 2.26sINFOobjective_server_nodeinstance_id: "" ×12 + 2.26sINFOobjective_server_node ×12 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_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 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.30sINFOros2_control_node[2026-10-09 19:20:27.843] [info] Received new action goal ×2 + 7.30sINFOros2_control_node[2026-10-09 19:20:27.843] [info] Accepted new action goal ×2 + 7.31sINFOros2_control_node[2026-10-09 19:20:27.843] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107206 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107206 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287431 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287431 ms (missed cycles : 2).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398926 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398926 ms (missed cycles : 3).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569991 ms (missed cycles : 4). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569991 ms (missed cycles : 4).[0m ×2 + 10.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4).[0m ×2 + 14.32sINFOobjective_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 + 14.33sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Canceling active goal... ×2 + 14.34sERRORobjective_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: 1791573634.87391162 seconds ×3 + 14.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573635.45852757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2).[0m ×2 + 16.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3).[0m ×2 + 16.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573636.73866796 seconds ×3 + 16.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.79sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791573637.33178353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.79sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.79sINFOobjective_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 + 16.79sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.79sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791573637.33329558 seconds ×3 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3).[0m ×2 + 17.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.47sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791573638.05693603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791573638.06766057 seconds ×3 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 137 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_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: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222277 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222277 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211676 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211676 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577276 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577276 ms (missed cycles : 3).[0m ×2 + 9.33sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535017 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535017 ms (missed cycles : 2).[0m ×2 + 10.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761212 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761212 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536889 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536889 ms (missed cycles : 2).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823419 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823419 ms (missed cycles : 2).[0m ×2 + 13.67sINFOobjective_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 + 13.67sERRORobjective_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: 1791573565.86625123 seconds ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552448 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552448 ms (missed cycles : 2).[0m ×2 + 14.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791573566.45868349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 14.48sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.49sINFOros2_control_node[2026-10-09 19:19:26.688] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-10-09 19:19:26.688] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730082 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730082 ms (missed cycles : 3).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010371 ms (missed cycles : 5). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010371 ms (missed cycles : 5).[0m ×2 + 16.24sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635564 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635564 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875674 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875674 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231107 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231107 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.40sINFOros2_control_node[2026-10-09 19:15:31.849] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-10-09 19:15:31.849] [info] Accepted new action goal ×2 + 2.01sINFOobjective_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 + 2.02sINFOros2_control_node[2026-10-09 19:15:32.466] [info] Got request to cancel active goal. ×2 + 2.02sINFOros2_control_node[2026-10-09 19:15:32.466] [info] Canceling active goal... ×2 + 2.03sERRORobjective_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: 1791573332.48097467 seconds ×3 + 2.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605403 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605403 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_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: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.57sINFOobjective_server_nodecaller: ×6 + 2.57sINFOobjective_server_nodetype: 0 ×6 + 2.57sINFOobjective_server_nodename: "" ×6 + 2.57sINFOobjective_server_nodeinstance_id: "" ×6 + 2.57sINFOobjective_server_node ×6 + 2.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791573333.09399271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.88sINFOros2_control_node[2026-10-09 19:15:33.328] [info] Received new action goal ×2 + 2.88sINFOros2_control_node[2026-10-09 19:15:33.328] [info] Accepted new action goal ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783338 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783338 ms (missed cycles : 2).[0m ×2 + 3.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796987 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796987 ms (missed cycles : 3).[0m ×2 + 4.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.14sINFOros2_control_node[2026-10-09 19:15:35.588] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-09 19:15:35.588] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332893 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332893 ms (missed cycles : 4).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183454 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183454 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344396 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344396 ms (missed cycles : 3).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659554 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659554 ms (missed cycles : 2).[0m ×2 + 9.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224952 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224952 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 12.93sERRORobjective_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: 1791573343.37426233 seconds ×3 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 13.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.47sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 14.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 14.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.47sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 14.47sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 202 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 + 7.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.24sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952013 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952013 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.61sINFOobjective_server_nodeFound path in 5 iterations (0.00401136 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.07sINFOros2_control_node[2026-10-09 19:16:11.163] [info] Received new action goal ×2 + 8.07sINFOros2_control_node[2026-10-09 19:16:11.163] [info] Accepted new action goal ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790613 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790613 ms (missed cycles : 3).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309427 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309427 ms (missed cycles : 2).[0m ×2 + 10.33sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.60sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791573373.72605228 seconds ×3 + 10.63sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068637 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068637 ms (missed cycles : 2).[0m ×2 + 11.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778376 ms (missed cycles : 2). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778376 ms (missed cycles : 2).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958897 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958897 ms (missed cycles : 2).[0m ×2 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028892 ms (missed cycles : 4). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028892 ms (missed cycles : 4).[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791573377.50497556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.60sINFOros2_control_node[2026-10-09 19:16:17.698] [info] Received new action goal ×2 + 14.60sINFOros2_control_node[2026-10-09 19:16:17.698] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401505 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401505 ms (missed cycles : 3).[0m ×2 + 16.37sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231037 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231037 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.62sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.11sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236992 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236992 ms (missed cycles : 4).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572894 ms (missed cycles : 4). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572894 ms (missed cycles : 4).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766325 ms (missed cycles : 5). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766325 ms (missed cycles : 5).[0m ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.76sINFOros2_control_node[2026-10-09 19:15:28.540] [info] Received new action goal ×2 + 9.76sINFOros2_control_node[2026-10-09 19:15:28.540] [info] Accepted new action goal ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037365 ms (missed cycles : 5). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037365 ms (missed cycles : 5).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875674 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875674 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231107 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231107 ms (missed cycles : 2).[0m ×2 + 13.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.06sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.07sINFOros2_control_node[2026-10-09 19:15:31.849] [info] Received new action goal ×2 + 13.07sINFOros2_control_node[2026-10-09 19:15:31.849] [info] Accepted new action goal ×2 + 13.68sINFOobjective_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 + 13.69sINFOros2_control_node[2026-10-09 19:15:32.466] [info] Got request to cancel active goal. ×2 + 13.69sINFOros2_control_node[2026-10-09 19:15:32.466] [info] Canceling active goal... ×2 + 13.70sERRORobjective_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: 1791573332.48097467 seconds ×3 + 13.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605403 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605403 ms (missed cycles : 2).[0m ×2 + 14.24sINFOobjective_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: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791573333.09399271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 14.55sINFOros2_control_node[2026-10-09 19:15:33.328] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-10-09 19:15:33.328] [info] Accepted new action goal ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783338 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783338 ms (missed cycles : 2).[0m ×2 + 15.65sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796987 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796987 ms (missed cycles : 3).[0m ×2 + 16.80sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 16.80sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.81sINFOros2_control_node[2026-10-09 19:15:35.588] [info] Received new action goal ×2 + 16.81sINFOros2_control_node[2026-10-09 19:15:35.588] [info] Accepted new action goal ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332893 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332893 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 54 warnings · 2976 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×463 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×463 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×926 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×926 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573544.00501013 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNros2_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 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791573544.72182369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.94sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3).[0m ×2 + 7.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921535 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921535 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 1 iterations (0.00337509 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.69sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 7.71sINFOros2_control_node[2026-10-09 19:19:08.588] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-10-09 19:19:08.588] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660439 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660439 ms (missed cycles : 2).[0m ×2 + 9.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985764 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985764 ms (missed cycles : 2).[0m ×2 + 10.02sINFOros2_control_node[2026-10-09 19:19:10.894] [info] Received new action goal ×2 + 10.02sINFOros2_control_node[2026-10-09 19:19:10.894] [info] Accepted new action goal ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665393 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665393 ms (missed cycles : 3).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 11.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.68sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 12.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 14.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 14.81sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 14.81sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 15.53sWARNros2_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 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 16.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761212 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761212 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536889 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536889 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823419 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823419 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_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 + 2.84sERRORobjective_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: 1791573565.86625123 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552448 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552448 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791573566.45868349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.66sINFOros2_control_node[2026-10-09 19:19:26.688] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-09 19:19:26.688] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730082 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730082 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010371 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010371 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635564 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635564 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223608 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223608 ms (missed cycles : 4).[0m ×2 + 7.67sINFOros2_control_node[2026-10-09 19:19:30.697] [info] Received new action goal ×2 + 7.67sINFOros2_control_node[2026-10-09 19:19:30.697] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701479 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701479 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357616 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357616 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550169 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550169 ms (missed cycles : 2).[0m ×2 + 11.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503017 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503017 ms (missed cycles : 3).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370899 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370899 ms (missed cycles : 3).[0m ×2 + 13.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791573576.28247905 seconds ×3 + 13.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.79sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.86sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791573576.88532138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 13.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.97sINFOros2_control_node[2026-10-09 19:19:37.000] [info] Received new action goal ×2 + 13.97sINFOros2_control_node[2026-10-09 19:19:37.000] [info] Accepted new action goal ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945421 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945421 ms (missed cycles : 2).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725108 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725108 ms (missed cycles : 3).[0m ×2 + 15.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029015 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029015 ms (missed cycles : 2).[0m ×2 + 16.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 9.9s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 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 ×8 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.95sINFOros2_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 ×8 + 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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.48sINFOobjective_server_nodecaller: ×8 + 2.48sINFOobjective_server_nodetype: 0 ×8 + 2.48sINFOobjective_server_nodename: "" ×8 + 2.48sINFOobjective_server_nodeinstance_id: "" ×8 + 2.48sINFOobjective_server_node ×8 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.81sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.17sINFOobjective_server_nodeFound path in 1 iterations (0.00229969 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.32sINFOros2_control_node[2026-10-09 19:15:48.753] [info] Received new action goal ×2 + 7.32sINFOros2_control_node[2026-10-09 19:15:48.753] [info] Accepted new action goal ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782069 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782069 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240116 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240116 ms (missed cycles : 2).[0m ×2 + 9.62sINFOros2_control_node[2026-10-09 19:15:51.055] [info] Received new action goal ×2 + 9.62sINFOros2_control_node[2026-10-09 19:15:51.055] [info] Accepted new action goal ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294978 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294978 ms (missed cycles : 2).[0m ×2 + 10.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 11.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.28sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 12.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 13.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.12sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.18sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.93sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.03sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.04sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 14.04sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791573419.03264117 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.37sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.37sINFOobjective_server_nodecaller: ×6 + 2.37sINFOobjective_server_nodetype: 0 ×6 + 2.37sINFOobjective_server_nodename: "" ×6 + 2.37sINFOobjective_server_nodeinstance_id: "" ×6 + 2.37sINFOobjective_server_node ×6 + 2.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791573419.61641717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791573419.68655705 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 3.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.36sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 6.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.92sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.98sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.06sINFOobjective_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 + 7.07sINFOobjective_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 + 7.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 7.33sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 7.37sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 7.37sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 10.21sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 10.21sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 31 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2).[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_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 + 3.34sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Got request to cancel active goal. ×2 + 3.34sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Canceling active goal... ×2 + 3.35sERRORobjective_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: 1791573634.87391162 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.88sINFOobjective_server_nodecaller: ×8 + 3.88sINFOobjective_server_nodetype: 0 ×8 + 3.88sINFOobjective_server_nodename: "" ×8 + 3.88sINFOobjective_server_nodeinstance_id: "" ×8 + 3.88sINFOobjective_server_node ×8 + 3.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573635.45852757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573636.73866796 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791573637.33178353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.80sINFOobjective_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 + 5.80sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791573637.33329558 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791573638.05693603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791573638.06766057 seconds ×3 + 7.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573638.65448546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823162 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823162 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 28 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430679 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430679 ms (missed cycles : 4).[0m ×2 + 0.15sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129047 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129047 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.67sINFOobjective_server_nodecaller: ×14 + 2.67sINFOobjective_server_nodetype: 0 ×14 + 2.67sINFOobjective_server_nodename: "" ×14 + 2.67sINFOobjective_server_nodeinstance_id: "" ×14 + 2.67sINFOobjective_server_node ×14 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 5.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 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 + 6.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 6.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.95sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 7.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 7.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.73sINFOobjective_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 + 7.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.83sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 7.83sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 25 warnings · 193 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2).[0m ×2 + 7.10sWARNros2_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 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4).[0m ×2 + 1.37sINFOobjective_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 + 1.39sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Got request to cancel active goal. ×2 + 1.39sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Canceling active goal... ×2 + 1.39sERRORobjective_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: 1791573634.87391162 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.92sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.92sINFOobjective_server_nodecaller: ×8 + 1.92sINFOobjective_server_nodetype: 0 ×8 + 1.92sINFOobjective_server_nodename: "" ×8 + 1.93sINFOobjective_server_nodeinstance_id: "" ×8 + 1.93sINFOobjective_server_node ×8 + 1.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573635.45852757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2).[0m ×2 + 3.05sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573636.73866796 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791573637.33178353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.85sINFOobjective_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 + 3.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791573637.33329558 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3).[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 + 4.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791573638.05693603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791573638.06766057 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573638.65448546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823162 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823162 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573640.56462789 seconds ×3 + 7.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901775 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901775 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 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-10-09 19:15:51.055] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-09 19:15:51.055] [info] Accepted new action goal ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294978 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294978 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 6.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161247 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161247 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791573419.03264117 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791573419.61641717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791573419.68655705 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 22 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 6.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_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 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3).[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 5.051386 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4).[0m ×2 + 0.36sINFOobjective_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 + 0.37sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Got request to cancel active goal. ×2 + 0.37sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Canceling active goal... ×2 + 0.37sERRORobjective_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: 1791573634.87391162 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.91sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.91sINFOobjective_server_nodecaller: ×8 + 0.91sINFOobjective_server_nodetype: 0 ×8 + 0.91sINFOobjective_server_nodename: "" ×8 + 0.91sINFOobjective_server_nodeinstance_id: "" ×8 + 0.91sINFOobjective_server_node ×8 + 0.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573635.45852757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 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 4.902694 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573636.73866796 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791573637.33178353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.83sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791573637.33329558 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3).[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 + 3.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791573638.05693603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791573638.06766057 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573638.65448546 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 4.823162 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823162 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815649 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573640.56462789 seconds ×3 + 6.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901775 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901775 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2866 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×463 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×463 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×926 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×926 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573544.00501013 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNros2_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 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791573544.72182369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222277 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222277 ms (missed cycles : 3).[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 3.687125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[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 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[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 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[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 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3).[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 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3).[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 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3).[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 4.006433 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006433 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280916 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_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 + 1.94sERRORobjective_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: 1791573343.37426233 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649810 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791573343.96404529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791573344.08417773 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179009 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791573344.74471235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-09 19:15:44.918] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746680 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342698 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341826 ms (missed cycles : 3).[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 3.687125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[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 3.687125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[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 3.687125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[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 3.687125 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687125 ms (missed cycles : 3).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-10-09 19:15:52.718] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903239 ms (missed cycles : 6).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791573354.01489568 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360390 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791573354.62170219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791573354.71185017 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.20sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791573355.36946321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-10-09 19:15:55.474] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038089 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809271 ms (missed cycles : 3).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656535 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412535 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:16:03.451] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063264 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931738 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Received new action goal ×2 + 2.68sINFOros2_control_node[2026-10-09 19:16:05.771] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-10-09 19:16:05.969] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1791573365.97247815 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536227 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791573366.61410189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-09 19:16:06.798] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413597 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447742 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386831 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-10-09 19:16:25.002] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-09 19:16:25.002] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643731 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643731 ms (missed cycles : 3).[0m ×2 + 0.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501882 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501882 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-10-09 19:16:27.258] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-10-09 19:16:27.258] [info] Accepted new action goal ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978018 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978018 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_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 + 2.96sINFOros2_control_node[2026-10-09 19:16:27.965] [info] Got request to cancel active goal. ×2 + 2.96sINFOros2_control_node[2026-10-09 19:16:27.965] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1791573387.97940254 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791573388.62605906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474389 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474389 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-10-09 19:16:29.629] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-09 19:16:29.629] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596859 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596859 ms (missed cycles : 5).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673598 ms (missed cycles : 6). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673598 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161247 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161247 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337774 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246454 ms (missed cycles : 2).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791573419.03264117 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292947 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791573419.61641717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791573419.68655705 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267410 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 95 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791573420.47112703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-10-09 19:17:00.565] [info] Accepted new action goal ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706063 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426689 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791573422.57127118 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707296 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791573424.18245625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_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 + 3.80sINFOobjective_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 + 3.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092458 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-10-09 19:17:04.569] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646985 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029420 ms (missed cycles : 2).[0m ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-09 19:17:07.408] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 492 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679848 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679848 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488401 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488401 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556558 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556558 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791573477.44995975 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOobjective_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: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791573478.04280400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938677 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938677 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.27sINFOros2_control_node[2026-10-09 19:17:58.197] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-10-09 19:17:58.197] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024534 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024534 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_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 + 4.55sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.61sINFOobjective_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 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945785 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945785 ms (missed cycles : 2).[0m ×2 + 5.64sWARNros2_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 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×68 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×68 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×136 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×136 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547081 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547081 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2866 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×463 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×463 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×926 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×926 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573544.00501013 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNros2_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 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791573544.72182369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2866 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×463 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×463 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×926 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×926 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573544.00501013 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNros2_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 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791573544.72182369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2866 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×463 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×463 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×926 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×926 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573544.00501013 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNros2_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 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791573544.72182369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2866 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×463 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×463 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×926 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×926 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530408 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977866 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302001 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791573544.00501013 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNros2_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 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791573544.72182369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-10-09 19:19:04.907] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630876 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358935 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143066 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142502 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-09 19:19:12.555] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699273 ms (missed cycles : 3).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791573553.85202169 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955351 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791573555.51572490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155850 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-10-09 19:19:15.681] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426509 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761212 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761212 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536889 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536889 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823419 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823419 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_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 + 2.84sERRORobjective_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: 1791573565.86625123 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552448 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552448 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791573566.45868349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.66sINFOros2_control_node[2026-10-09 19:19:26.688] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-09 19:19:26.688] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730082 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730082 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010371 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010371 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635564 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635564 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550169 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550169 ms (missed cycles : 2).[0m ×2 + 0.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503017 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503017 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370899 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370899 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791573576.28247905 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791573576.88532138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.15sINFOros2_control_node[2026-10-09 19:19:37.000] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-09 19:19:37.000] [info] Accepted new action goal ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945421 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945421 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725108 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725108 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029015 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029015 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199950 ms (missed cycles : 2).[0m ×2 + 0.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366605 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366605 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235231 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235231 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_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 + 2.77sERRORobjective_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: 1791573587.36560297 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990549 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990549 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791573587.97307730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-10-09 19:19:48.986] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-10-09 19:19:48.986] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998072 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998072 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886384 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886384 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 20 warnings · 193 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 20 warnings · 193 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 20 warnings · 193 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231392 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_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 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_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 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_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 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707020 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840137 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791573622.24219394 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969789 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791573623.02205062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791573623.12218475 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791573623.70440412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_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 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791573623.72658873 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069756 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791573624.43901563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 19:20:24.533] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858247 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816929 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_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 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736240 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2).[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_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 + 3.34sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Got request to cancel active goal. ×2 + 3.34sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Canceling active goal... ×2 + 3.35sERRORobjective_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: 1791573634.87391162 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.88sINFOobjective_server_nodecaller: ×6 + 3.88sINFOobjective_server_nodetype: 0 ×6 + 3.88sINFOobjective_server_nodename: "" ×6 + 3.88sINFOobjective_server_nodeinstance_id: "" ×6 + 3.88sINFOobjective_server_node ×6 + 3.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573635.45852757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573636.73866796 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791573637.33178353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.80sINFOobjective_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 + 5.80sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791573637.33329558 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791573638.05693603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791573638.06766057 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 25 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476815 ms (missed cycles : 2).[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371773 ms (missed cycles : 6).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051386 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_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 + 3.34sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Got request to cancel active goal. ×2 + 3.34sINFOros2_control_node[2026-10-09 19:20:34.869] [info] Canceling active goal... ×2 + 3.35sERRORobjective_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: 1791573634.87391162 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.88sINFOobjective_server_nodecaller: ×6 + 3.88sINFOobjective_server_nodetype: 0 ×6 + 3.88sINFOobjective_server_nodename: "" ×6 + 3.88sINFOobjective_server_nodeinstance_id: "" ×6 + 3.88sINFOobjective_server_node ×6 + 3.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573635.45852757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619384 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902694 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573636.73866796 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791573637.33178353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.80sINFOobjective_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 + 5.80sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791573637.33329558 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234547 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791573638.05693603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791573638.06766057 seconds ×3 | ||||
▾
/__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 | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.6s | 48 warnings · 768 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/2026-10-09-19-15-07-740898-ed79fca4b13b-7902 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.58sWARNcontroller_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. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437903 ms (missed cycles : 3). + 0.77sINFOros2_control_node-1process started with pid [7950] ×2 + 0.77sINFOmove_group-9process started with pid [8001] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [8002] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [8003] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [8004] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [8005] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [8006] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [8007] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [8008] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [8009] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [8010] ×2 + 0.77sINFOweb_bridge-19process started with pid [8011] ×2 + 0.77sINFOtf_visualization_relay-20process started with pid [8118] ×2 + 0.77sINFOjoint_state_visualization_relay-21process started with pid [8122] ×2 + 0.77sINFOtf2_web_republisher_node-22process started with pid [8123] ×2 + 0.77sINFOvideo_server-23process started with pid [8124] ×2 + 0.77sINFOweb_bridge_auth_proxy-24process started with pid [8126] ×2 + 0.77sINFOweb_video_auth_proxy-25process started with pid [8127] ×2 + 0.77sINFOros2-2process started with pid [7951] ×2 + 0.77sINFOros2-3process started with pid [7952] ×2 + 0.78sINFOros2-4process started with pid [7953] ×2 + 0.78sINFOros2-5process started with pid [7954] ×2 + 0.78sINFOros2-6process started with pid [7955] ×2 + 0.78sINFOros2-7process started with pid [7956] ×2 + 0.78sINFOros2-8process started with pid [7957] ×2 + 0.80sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.80sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.80sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.80sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.80sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.80sWARNros2_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 + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437903 ms (missed cycles : 3).[0m ×2 + 0.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOvideo_server2026/10/09 19:15:08 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.93sINFOvideo_server2026/10/09 19:15:08 INF configuration loaded from /tmp/moveit-webrtc-4nkx34cd/mediamtx.yml ×2 + 0.94sINFOvideo_server2026/10/09 19:15:08 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.94sINFOvideo_server2026/10/09 19:15:08 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.07sINFOcontroller_managerReceived robot description from topic. + 1.07sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.07sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.11sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.14sINFOweb_bridge_auth_proxy2026-10-09 19:15:09,148 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.14sINFOweb_bridge_auth_proxy2026-10-09 19:15:09,150 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.15sINFOweb_video_auth_proxy2026-10-09 19:15:09,155 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.34sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.39sINFOmove_group[2026-10-09 19:15:09.396] [moveit_pro_license] [info] ×2 + 1.39sINFOmove_group************************************************* ×4 + 1.39sINFOmove_group* MoveIt Pro License ×2 + 1.39sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.59sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.66sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.70sINFOmove_group ×4 + 1.70sINFOmove_group[92mYou can start planning now![0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425016 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425016 ms (missed cycles : 2).[0m ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.63sINFOwaypoint_manager_node[2026-10-09 19:15:10.636] [moveit_pro_license] [info] ×2 + 2.63sINFOwaypoint_manager_node************************************************* ×4 + 2.63sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.63sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.68sINFOobjective_server_node[2026-10-09 19:15:10.683] [moveit_pro_license] [info] ×2 + 2.68sINFOobjective_server_node************************************************* ×4 + 2.68sINFOobjective_server_node* MoveIt Pro License ×2 + 2.68sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.69sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.84sINFOobjective_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 + 2.84sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.86sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 2.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.32sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.45sINFOcomponent_container_mt[2026-10-09 19:15:11.452] [moveit_pro_license] [info] ×2 + 3.45sINFOcomponent_container_mt************************************************* ×4 + 3.45sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.45sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.49sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.49sINFOros2_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 + 3.49sWARNros2_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 + 3.49sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.49sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.49sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.49sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.49sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.49sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.49sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.49sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.49sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.49sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.49sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.49sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.49sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.49sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.49sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.49sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.49sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.49sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.49sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.49sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.59sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.59sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 3.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 3.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 3.73sINFOros2_control_node[2026-10-09 19:15:11.733] [info] Controller state will be published at 20 Hz. ×2 + 3.73sINFOros2_control_node[2026-10-09 19:15:11.734] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.81sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.81sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.85sINFOros2_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 + 3.85sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.85sWARNros2_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 + 3.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.99sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 3.99sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 4.01sINFOros2-8process has finished cleanly [pid 7957] ×2 + 4.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441387 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441387 ms (missed cycles : 3).[0m ×2 + 4.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.34sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.34sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 4.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 4.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.39sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.39sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.39sINFOros2-5process has finished cleanly [pid 7954] ×2 + 4.39sINFOforce_torque_sensor_broadcasterconfigure successful + 4.39sINFOros2_control_nodeconfigure successful[0m ×2 + 4.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.40sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.40sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.40sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.75sINFOros2-2process has finished cleanly [pid 7951] ×2 + 4.76sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 4.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 4.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.80sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.80sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.83sINFOros2_control_node[2026-10-09 19:15:12.837] [info] Controller state will be published at 10 Hz. ×2 + 4.83sINFOros2_control_node[2026-10-09 19:15:12.838] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.06sWARNobjective_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 + 5.11sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 5.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.18sINFOros2-7process has finished cleanly [pid 7956] ×2 + 5.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 5.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 5.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.27sINFOros2_control_node[2026-10-09 19:15:13.277] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.27sINFOros2_control_node[2026-10-09 19:15:13.277] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.29sINFOros2_control_node[2026-10-09 19:15:13.300] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.29sINFOros2_control_node[2026-10-09 19:15:13.300] [info] Controller state will be published at 50 Hz. ×2 + 5.30sINFOros2_control_node[2026-10-09 19:15:13.306] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173947 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173947 ms (missed cycles : 2).[0m ×2 + 5.61sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.61sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.62sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 5.62sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 5.64sINFOros2-6process has finished cleanly [pid 7955] ×2 + 5.66sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.66sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.66sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.66sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.66sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.66sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.67sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.67sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.67sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.98sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.98sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.98sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.98sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.99sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 5.99sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 6.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.00sINFOros2-4process has finished cleanly [pid 7953] ×2 + 6.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.37sINFOros2-3process has finished cleanly [pid 7952] ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430679 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430679 ms (missed cycles : 4).[0m ×2 + 6.71sWARNros2_control_nodeCamera render tick took 1.46 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 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129047 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129047 ms (missed cycles : 4).[0m ×2 + 8.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 8.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 8.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 8.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 8.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 8.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 8.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 8.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 8.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 8.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 8.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 9.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.22sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 9.23sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 9.23sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 9.23sINFOobjective_server_nodeparameter_overrides: [] ×10 + 9.23sINFOobjective_server_nodecaller: ×10 + 9.23sINFOobjective_server_nodetype: 0 ×10 + 9.23sINFOobjective_server_nodename: "" ×10 + 9.23sINFOobjective_server_nodeinstance_id: "" ×10 + 9.23sINFOobjective_server_node ×10 + 9.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 9.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 9.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.82sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 9.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 9.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 10.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 11.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 11.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 12.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 12.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 12.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 12.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 13.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
| ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 378 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_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 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.12sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.61sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 411 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.62sINFOobjective_server_nodecaller: ×14 + 0.62sINFOobjective_server_nodetype: 0 ×14 + 0.62sINFOobjective_server_nodename: "" ×14 + 0.62sINFOobjective_server_nodeinstance_id: "" ×14 + 0.62sINFOobjective_server_node ×14 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_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 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.78sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 15 warnings · 295 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/2026-10-09-19-15-07-740898-ed79fca4b13b-7902 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.58sWARNcontroller_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. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437903 ms (missed cycles : 3). + 0.77sINFOros2_control_node-1process started with pid [7950] ×2 + 0.77sINFOmove_group-9process started with pid [8001] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [8002] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [8003] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [8004] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [8005] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [8006] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [8007] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [8008] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [8009] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [8010] ×2 + 0.77sINFOweb_bridge-19process started with pid [8011] ×2 + 0.77sINFOtf_visualization_relay-20process started with pid [8118] ×2 + 0.77sINFOjoint_state_visualization_relay-21process started with pid [8122] ×2 + 0.77sINFOtf2_web_republisher_node-22process started with pid [8123] ×2 + 0.77sINFOvideo_server-23process started with pid [8124] ×2 + 0.77sINFOweb_bridge_auth_proxy-24process started with pid [8126] ×2 + 0.77sINFOweb_video_auth_proxy-25process started with pid [8127] ×2 + 0.77sINFOros2-2process started with pid [7951] ×2 + 0.77sINFOros2-3process started with pid [7952] ×2 + 0.78sINFOros2-4process started with pid [7953] ×2 + 0.78sINFOros2-5process started with pid [7954] ×2 + 0.78sINFOros2-6process started with pid [7955] ×2 + 0.78sINFOros2-7process started with pid [7956] ×2 + 0.78sINFOros2-8process started with pid [7957] ×2 + 0.80sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.80sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.80sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.80sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.80sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.80sWARNros2_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 + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437903 ms (missed cycles : 3).[0m ×2 + 0.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOvideo_server2026/10/09 19:15:08 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.93sINFOvideo_server2026/10/09 19:15:08 INF configuration loaded from /tmp/moveit-webrtc-4nkx34cd/mediamtx.yml ×2 + 0.94sINFOvideo_server2026/10/09 19:15:08 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.94sINFOvideo_server2026/10/09 19:15:08 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.07sINFOcontroller_managerReceived robot description from topic. + 1.07sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.07sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.11sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.14sINFOweb_bridge_auth_proxy2026-10-09 19:15:09,148 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.14sINFOweb_bridge_auth_proxy2026-10-09 19:15:09,150 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.15sINFOweb_video_auth_proxy2026-10-09 19:15:09,155 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.34sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.39sINFOmove_group[2026-10-09 19:15:09.396] [moveit_pro_license] [info] ×2 + 1.39sINFOmove_group************************************************* ×4 + 1.39sINFOmove_group* MoveIt Pro License ×2 + 1.39sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.59sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.66sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.70sINFOmove_group ×4 + 1.70sINFOmove_group[92mYou can start planning now![0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425016 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425016 ms (missed cycles : 2).[0m ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.63sINFOwaypoint_manager_node[2026-10-09 19:15:10.636] [moveit_pro_license] [info] ×2 + 2.63sINFOwaypoint_manager_node************************************************* ×4 + 2.63sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.63sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.68sINFOobjective_server_node[2026-10-09 19:15:10.683] [moveit_pro_license] [info] ×2 + 2.68sINFOobjective_server_node************************************************* ×4 + 2.68sINFOobjective_server_node* MoveIt Pro License ×2 + 2.68sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.69sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.84sINFOobjective_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 + 2.84sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.86sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.86sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 2.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.32sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.45sINFOcomponent_container_mt[2026-10-09 19:15:11.452] [moveit_pro_license] [info] ×2 + 3.45sINFOcomponent_container_mt************************************************* ×4 + 3.45sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.45sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.49sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.49sINFOros2_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 + 3.49sWARNros2_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 + 3.49sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.49sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.49sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.49sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.49sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.49sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.49sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.49sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.49sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.49sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.49sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.49sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.49sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.49sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.49sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.49sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.49sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.49sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.49sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.49sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.49sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.59sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.59sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg + 3.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lehliprg --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_2_pxia29 --params-file /tmp/launch_params_hij3y9yg [0m ×2 + 3.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 3.73sINFOros2_control_node[2026-10-09 19:15:11.733] [info] Controller state will be published at 20 Hz. ×2 + 3.73sINFOros2_control_node[2026-10-09 19:15:11.734] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.81sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.81sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.85sINFOros2_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 + 3.85sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.85sWARNros2_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 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 20 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 20 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 20 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 411 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773188 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.62sINFOobjective_server_nodecaller: ×14 + 0.62sINFOobjective_server_nodetype: 0 ×14 + 0.62sINFOobjective_server_nodename: "" ×14 + 0.62sINFOobjective_server_nodeinstance_id: "" ×14 + 0.62sINFOobjective_server_node ×14 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_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 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.78sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 364 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573317.27699804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573317.28722024 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791573317.86742687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_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 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.12sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864286 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791573318.77757502 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849452 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.22sINFOobjective_server_nodecaller: ×10 + 1.22sINFOobjective_server_nodetype: 0 ×10 + 1.22sINFOobjective_server_nodename: "" ×10 + 1.22sINFOobjective_server_nodeinstance_id: "" ×10 + 1.22sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791573319.38296223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791573319.44310212 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573320.09335828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573320.11351395 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029897 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573320.69715667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573320.84761071 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573321.52621388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278761 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573321.57638311 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791573322.28564978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.4831e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-09 19:15:22.396] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425507 ms (missed cycles : 3).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927633 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053927 ms (missed cycles : 5).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-10-09 19:15:24.890] [info] Accepted new action goal ×2 | ||||