136
Total objective tests
34
Objectives passed
0
Objectives failed
102
Objectives skipped
10.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 164 warnings · 16089 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458535 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458535 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408139 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408139 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675141 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675141 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791578771.79694915 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791578772.41968155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.21sINFOros2_control_node[2026-10-09 20:46:12.596] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-10-09 20:46:12.596] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419148 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419148 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_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 + 4.49sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.868749 ms (missed cycles : 7). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.868749 ms (missed cycles : 7).[0m ×2 + 4.55sINFOobjective_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 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.56sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681395 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681395 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634450 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634450 ms (missed cycles : 2).[0m ×2 + 6.96sINFOjoint_trajectory_controllerReceived new action goal ×2638 + 6.96sINFOjoint_trajectory_controllerAccepted new action goal ×2638 + 6.96sINFOros2_control_nodeReceived new action goal[0m ×5276 + 6.96sINFOros2_control_nodeAccepted new action goal[0m ×5276 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751527 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751527 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213292 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213292 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769761 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769761 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863127 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863127 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879398 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879398 ms (missed cycles : 2).[0m ×2 + 11.57sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.57sINFOjoint_trajectory_controllerGot request to cancel goal ×11 + 11.57sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.57sINFOros2_control_nodeGot request to cancel goal[0m ×22 + 11.57sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753843 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753843 ms (missed cycles : 2).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635510 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635510 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757495 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757495 ms (missed cycles : 2).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790401 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790401 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091404 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091404 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067616 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067616 ms (missed cycles : 2).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704987 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704987 ms (missed cycles : 2).[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894443 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894443 ms (missed cycles : 2).[0m ×2 + 19.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908711 ms (missed cycles : 2). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908711 ms (missed cycles : 2).[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848648 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848648 ms (missed cycles : 2).[0m ×2 + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750898 ms (missed cycles : 2). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750898 ms (missed cycles : 2).[0m ×2 + 22.88sINFOros2_control_nodeMuJoCo sim: 0.59% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770900 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770900 ms (missed cycles : 2).[0m ×2 + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712608 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712608 ms (missed cycles : 2).[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820153 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820153 ms (missed cycles : 2).[0m ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225600 ms (missed cycles : 5). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225600 ms (missed cycles : 5).[0m ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987361 ms (missed cycles : 2). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987361 ms (missed cycles : 2).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849085 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849085 ms (missed cycles : 2).[0m ×2 + 28.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.61 s); wrist_camera (1.61 s). The render path has stopped producing new frames for them.[0m ×2 + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003134 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003134 ms (missed cycles : 2).[0m ×2 + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724057 ms (missed cycles : 2). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724057 ms (missed cycles : 2).[0m ×2 + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812637 ms (missed cycles : 2). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812637 ms (missed cycles : 2).[0m ×2 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836311 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836311 ms (missed cycles : 2).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870174 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870174 ms (missed cycles : 2).[0m ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017559 ms (missed cycles : 2). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017559 ms (missed cycles : 2).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827549 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827549 ms (missed cycles : 2).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750164 ms (missed cycles : 2). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750164 ms (missed cycles : 2).[0m ×2 + 36.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×4 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805270 ms (missed cycles : 2). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805270 ms (missed cycles : 2).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078790 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078790 ms (missed cycles : 2).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682301 ms (missed cycles : 2). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682301 ms (missed cycles : 2).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980820 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980820 ms (missed cycles : 2).[0m ×2 + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360936 ms (missed cycles : 2). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360936 ms (missed cycles : 2).[0m ×2 + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862756 ms (missed cycles : 2). + 42.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862756 ms (missed cycles : 2).[0m ×2 + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809418 ms (missed cycles : 2). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809418 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741663 ms (missed cycles : 2). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741663 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079660 ms (missed cycles : 2). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079660 ms (missed cycles : 2).[0m ×2 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806999 ms (missed cycles : 2). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806999 ms (missed cycles : 2).[0m ×2 + 46.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578816.34112406 seconds ×3 + 46.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.50sINFOobjective_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: ""
+ 47.50sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791578816.99715090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.65sINFOobjective_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 + 47.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.75sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 47.76sINFOros2_control_node[2026-10-09 20:46:57.151] [info] Received new action goal ×2 + 47.77sINFOros2_control_node[2026-10-09 20:46:57.151] [info] Accepted new action goal ×2 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329028 ms (missed cycles : 2). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329028 ms (missed cycles : 2).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026269 ms (missed cycles : 2). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026269 ms (missed cycles : 2).[0m ×2 + 49.87sWARNros2_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 + 50.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808861 ms (missed cycles : 2). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808861 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 156 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.04sINFOobjective_server_nodecaller: ×6 + 0.04sINFOobjective_server_nodetype: 0 ×6 + 0.04sINFOobjective_server_nodename: "" ×6 + 0.04sINFOobjective_server_nodeinstance_id: "" ×6 + 0.04sINFOobjective_server_node ×6 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 7.20sINFOros2_control_node[2026-10-09 20:45:21.975] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-10-09 20:45:21.975] [info] Accepted new action goal ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.091843 ms (missed cycles : 6). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.091843 ms (missed cycles : 6).[0m ×2 + 8.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270927 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270927 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968684 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968684 ms (missed cycles : 2).[0m ×2 + 10.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.37sINFOros2_control_node[2026-10-09 20:45:25.144] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-10-09 20:45:25.144] [info] Accepted new action goal ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208775 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208775 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107486 ms (missed cycles : 4). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107486 ms (missed cycles : 4).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843240 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843240 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.41sINFOros2_control_node[2026-10-09 20:45:28.185] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-10-09 20:45:28.185] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422829 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422829 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953591 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953591 ms (missed cycles : 2).[0m ×2 + 15.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689080 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689080 ms (missed cycles : 2).[0m ×2 + 16.36sINFOobjective_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 + 16.36sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719214 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719214 ms (missed cycles : 2).[0m ×2 + 17.50sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080705 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080705 ms (missed cycles : 2).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988561 ms (missed cycles : 5). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988561 ms (missed cycles : 5).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098466 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098466 ms (missed cycles : 2).[0m ×2 + 20.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×6 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501447 ms (missed cycles : 4). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501447 ms (missed cycles : 4).[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247764 ms (missed cycles : 5). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247764 ms (missed cycles : 5).[0m ×2 + 23.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.14sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.985757 ms (missed cycles : 6). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.985757 ms (missed cycles : 6).[0m ×2 + 24.12sINFOros2_control_node[2026-10-09 20:45:38.895] [info] Received new action goal ×2 + 24.12sINFOros2_control_node[2026-10-09 20:45:38.895] [info] Accepted new action goal ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924747 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924747 ms (missed cycles : 2).[0m ×2 + 25.29sINFOobjective_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 + 25.30sINFOobjective_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 + 25.58sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 25.58sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.63sINFOros2_control_node[2026-10-09 20:45:40.399] [info] Received new action goal ×2 + 25.63sINFOros2_control_node[2026-10-09 20:45:40.399] [info] Accepted new action goal ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749508 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749508 ms (missed cycles : 2).[0m ×2 + 26.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912437 ms (missed cycles : 2). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912437 ms (missed cycles : 2).[0m ×2 + 27.77sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 27.77sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.78sINFOros2_control_node[2026-10-09 20:45:42.555] [info] Received new action goal ×2 + 27.78sINFOros2_control_node[2026-10-09 20:45:42.555] [info] Accepted new action goal ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751349 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751349 ms (missed cycles : 2).[0m ×2 + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241947 ms (missed cycles : 2). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241947 ms (missed cycles : 2).[0m ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592669 ms (missed cycles : 6). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592669 ms (missed cycles : 6).[0m ×2 + 30.81sINFOros2_control_node[2026-10-09 20:45:45.586] [info] Received new action goal ×2 + 30.81sINFOros2_control_node[2026-10-09 20:45:45.586] [info] Accepted new action goal ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568807 ms (missed cycles : 3). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568807 ms (missed cycles : 3).[0m ×2 + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138761 ms (missed cycles : 5). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138761 ms (missed cycles : 5).[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.205824 ms (missed cycles : 5). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.205824 ms (missed cycles : 5).[0m ×2 + 33.41sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 33.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.47sINFOros2_control_node[2026-10-09 20:45:48.239] [info] Received new action goal ×2 + 33.47sINFOros2_control_node[2026-10-09 20:45:48.239] [info] Accepted new action goal ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.703585 ms (missed cycles : 6). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.703585 ms (missed cycles : 6).[0m ×2 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771902 ms (missed cycles : 6). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771902 ms (missed cycles : 6).[0m ×2 + 36.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×4 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006147 ms (missed cycles : 5). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006147 ms (missed cycles : 5).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712776 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712776 ms (missed cycles : 2).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479028 ms (missed cycles : 2). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479028 ms (missed cycles : 2).[0m ×2 + 39.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175206 ms (missed cycles : 4). + 39.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175206 ms (missed cycles : 4).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526520 ms (missed cycles : 3). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526520 ms (missed cycles : 3).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676584 ms (missed cycles : 2). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676584 ms (missed cycles : 2).[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216372 ms (missed cycles : 3). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216372 ms (missed cycles : 3).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193822 ms (missed cycles : 2). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193822 ms (missed cycles : 2).[0m ×2 + 44.25sINFOros2_control_node[2026-10-09 20:45:59.026] [info] Received new action goal ×2 + 44.25sINFOros2_control_node[2026-10-09 20:45:59.026] [info] Accepted new action goal ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998157 ms (missed cycles : 3). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998157 ms (missed cycles : 3).[0m ×2 + 45.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791578760.18268204 seconds ×3 + 45.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864116 ms (missed cycles : 2). + 45.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864116 ms (missed cycles : 2).[0m ×2 + 45.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.99sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.21sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791578760.98480344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127822 ms (missed cycles : 2). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127822 ms (missed cycles : 2).[0m ×2 + 47.23sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 47.25sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.27sINFOros2_control_node[2026-10-09 20:46:02.045] [info] Received new action goal ×2 + 47.27sINFOros2_control_node[2026-10-09 20:46:02.045] [info] Accepted new action goal ×2 + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634576 ms (missed cycles : 6). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634576 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 35.3s | 3 errors · 133 warnings · 296 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.511489 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.511489 ms (missed cycles : 5).[0m ×2 + 0.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540295 ms (missed cycles : 6). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540295 ms (missed cycles : 6).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430121 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430121 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_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 + 2.75sERRORobjective_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: 1791578881.86105251 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321105 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321105 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.29sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.29sINFOobjective_server_nodecaller: ×8 + 3.29sINFOobjective_server_nodetype: 0 ×8 + 3.30sINFOobjective_server_nodename: "" ×8 + 3.30sINFOobjective_server_nodeinstance_id: "" ×8 + 3.30sINFOobjective_server_node ×8 + 3.39sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791578882.49931598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022536 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022536 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.42sINFOros2_control_node[2026-10-09 20:48:03.534] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-09 20:48:03.534] [info] Accepted new action goal ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775818 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775818 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269421 ms (missed cycles : 4). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269421 ms (missed cycles : 4).[0m ×2 + 7.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277152 ms (missed cycles : 4). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277152 ms (missed cycles : 4).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200848 ms (missed cycles : 4). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200848 ms (missed cycles : 4).[0m ×2 + 9.63sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.65sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.69sINFOros2_control_node[2026-10-09 20:48:08.805] [info] Received new action goal ×2 + 9.69sINFOros2_control_node[2026-10-09 20:48:08.805] [info] Accepted new action goal ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799124 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799124 ms (missed cycles : 2).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795947 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795947 ms (missed cycles : 2).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185626 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185626 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875547 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875547 ms (missed cycles : 2).[0m ×2 + 13.75sWARNros2_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 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864483 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864483 ms (missed cycles : 4).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676626 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676626 ms (missed cycles : 2).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126781 ms (missed cycles : 4). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126781 ms (missed cycles : 4).[0m ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706157 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706157 ms (missed cycles : 3).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043929 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043929 ms (missed cycles : 2).[0m ×2 + 19.51sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 19.51sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.53sINFOros2_control_node[2026-10-09 20:48:18.637] [info] Received new action goal ×2 + 19.53sINFOros2_control_node[2026-10-09 20:48:18.637] [info] Accepted new action goal ×2 + 19.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083724 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083724 ms (missed cycles : 2).[0m ×2 + 20.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930557 ms (missed cycles : 2). + 20.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930557 ms (missed cycles : 2).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586359 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586359 ms (missed cycles : 3).[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938119 ms (missed cycles : 5). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938119 ms (missed cycles : 5).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.235839 ms (missed cycles : 8). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.235839 ms (missed cycles : 8).[0m ×2 + 24.66sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.68sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.73sINFOros2_control_node[2026-10-09 20:48:23.835] [info] Received new action goal ×2 + 24.73sINFOros2_control_node[2026-10-09 20:48:23.835] [info] Accepted new action goal ×2 + 24.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797615 ms (missed cycles : 2). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797615 ms (missed cycles : 2).[0m ×2 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257485 ms (missed cycles : 4). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257485 ms (missed cycles : 4).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007815 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007815 ms (missed cycles : 2).[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369810 ms (missed cycles : 4). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369810 ms (missed cycles : 4).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.562897 ms (missed cycles : 6). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.562897 ms (missed cycles : 6).[0m ×2 + 29.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789176 ms (missed cycles : 6). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789176 ms (missed cycles : 6).[0m ×2 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765094 ms (missed cycles : 3). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765094 ms (missed cycles : 3).[0m ×2 + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468597 ms (missed cycles : 2). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468597 ms (missed cycles : 2).[0m ×2 + 33.16sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.001644 ms (missed cycles : 8). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.001644 ms (missed cycles : 8).[0m ×2 + 34.22sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 34.23sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.25sINFOros2_control_node[2026-10-09 20:48:33.357] [info] Received new action goal ×2 + 34.25sINFOros2_control_node[2026-10-09 20:48:33.357] [info] Accepted new action goal ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5).[0m ×2 + 34.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 38.03sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 seconds ×3 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 38.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 39.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.53sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 39.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.64sINFOobjective_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 + 39.64sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 40.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.26sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 40.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.43sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 40.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 40.44sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 40.44sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 41.02sWARNros2_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 + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 22.3s | 3 errors · 91 warnings · 189 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888109 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888109 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00345631 s). ×2 + 0.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.63sINFOros2_control_node[2026-10-09 20:44:36.998] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-10-09 20:44:36.998] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468138 ms (missed cycles : 8). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468138 ms (missed cycles : 8).[0m ×2 + 1.06sINFOros2_control_node[2026-10-09 20:44:37.430] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-10-09 20:44:37.430] [info] Accepted new action goal ×2 + 1.70sWARNros2_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 ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212176 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212176 ms (missed cycles : 2).[0m ×2 + 2.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.58sINFOobjective_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 + 2.59sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.59sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.63sERRORobjective_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: 1791578678.99548984 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006123 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006123 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791578679.81023979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335051 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335051 ms (missed cycles : 6).[0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-10-09 20:44:40.844] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-10-09 20:44:40.844] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084107 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084107 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273661 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273661 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978185 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978185 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125773 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125773 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381650 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381650 ms (missed cycles : 3).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366746 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366746 ms (missed cycles : 2).[0m ×2 + 11.30sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.33sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.38sINFOros2_control_node[2026-10-09 20:44:47.751] [info] Received new action goal ×2 + 11.38sINFOros2_control_node[2026-10-09 20:44:47.751] [info] Accepted new action goal ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586033 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586033 ms (missed cycles : 2).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304572 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304572 ms (missed cycles : 2).[0m ×2 + 12.64sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105806 ms (missed cycles : 4). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105806 ms (missed cycles : 4).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554366 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554366 ms (missed cycles : 2).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960030 ms (missed cycles : 4). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960030 ms (missed cycles : 4).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.847056 ms (missed cycles : 7). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.847056 ms (missed cycles : 7).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718374 ms (missed cycles : 6). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.718374 ms (missed cycles : 6).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727600 ms (missed cycles : 5). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727600 ms (missed cycles : 5).[0m ×2 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665813 ms (missed cycles : 4). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665813 ms (missed cycles : 4).[0m ×2 + 20.88sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 20.99sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 21.00sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 21.02sINFOros2_control_node[2026-10-09 20:44:57.385] [info] Received new action goal ×2 + 21.02sINFOros2_control_node[2026-10-09 20:44:57.385] [info] Accepted new action goal ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305207 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305207 ms (missed cycles : 2).[0m ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028629 ms (missed cycles : 5). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028629 ms (missed cycles : 5).[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836481 ms (missed cycles : 5). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836481 ms (missed cycles : 5).[0m ×2 + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.491209 ms (missed cycles : 10). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.491209 ms (missed cycles : 10).[0m ×2 + 24.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 24.93sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791578701.29885960 seconds ×3 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867385 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867385 ms (missed cycles : 2).[0m ×2 + 25.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.48sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 25.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791578702.08946657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.88sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 25.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 25.90sINFOros2_control_node[2026-10-09 20:45:02.263] [info] Received new action goal ×2 + 25.90sINFOros2_control_node[2026-10-09 20:45:02.263] [info] Accepted new action goal ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066126 ms (missed cycles : 2). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066126 ms (missed cycles : 2).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458198 ms (missed cycles : 5). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458198 ms (missed cycles : 5).[0m ×2 + 28.41sINFOros2_control_node[2026-10-09 20:45:04.777] [info] Received new action goal ×2 + 28.41sINFOros2_control_node[2026-10-09 20:45:04.777] [info] Accepted new action goal ×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 | 97 warnings · 11785 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1932 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1932 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3864 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×3864 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809418 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809418 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×4 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741663 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741663 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079660 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079660 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806999 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806999 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×3 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×6 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578816.34112406 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.90sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.91sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.91sINFOobjective_server_nodecaller: ×4 + 3.91sINFOobjective_server_nodetype: 0 ×4 + 3.91sINFOobjective_server_nodename: "" ×4 + 3.91sINFOobjective_server_nodeinstance_id: "" ×4 + 3.91sINFOobjective_server_node ×4 + 4.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791578816.99715090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.17sINFOros2_control_node[2026-10-09 20:46:57.151] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-10-09 20:46:57.151] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329028 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329028 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026269 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026269 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_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 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sWARNros2_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808861 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808861 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583451 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583451 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673679 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673679 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698863 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698863 ms (missed cycles : 2).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928666 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928666 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017611 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017611 ms (missed cycles : 2).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815211 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815211 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516200 ms (missed cycles : 4). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516200 ms (missed cycles : 4).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778213 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778213 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051856 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051856 ms (missed cycles : 2).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066303 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066303 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718220 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718220 ms (missed cycles : 2).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750323 ms (missed cycles : 2). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750323 ms (missed cycles : 2).[0m ×2 + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853827 ms (missed cycles : 2). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853827 ms (missed cycles : 2).[0m ×2 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262917 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262917 ms (missed cycles : 2).[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835716 ms (missed cycles : 2). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835716 ms (missed cycles : 2).[0m ×2 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2).[0m ×2 + 23.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2).[0m ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2).[0m ×2 + 25.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578838.48855758 seconds ×3 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2).[0m ×2 + 26.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791578839.25116396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.55sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 26.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.57sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Received new action goal ×2 + 26.57sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Accepted new action goal ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2).[0m ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2).[0m ×2 + 29.06sWARNros2_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 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 60 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028629 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028629 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836481 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836481 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.491209 ms (missed cycles : 10). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.491209 ms (missed cycles : 10).[0m ×2 + 2.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791578701.29885960 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867385 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867385 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791578702.08946657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.57sINFOros2_control_node[2026-10-09 20:45:02.263] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-10-09 20:45:02.263] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066126 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066126 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458198 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458198 ms (missed cycles : 5).[0m ×2 + 6.09sINFOros2_control_node[2026-10-09 20:45:04.777] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-10-09 20:45:04.777] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287944 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287944 ms (missed cycles : 5).[0m ×2 + 7.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615635 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615635 ms (missed cycles : 5).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890679 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890679 ms (missed cycles : 3).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435339 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435339 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536587 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536587 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671587 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671587 ms (missed cycles : 2).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5).[0m ×2 + 14.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791578713.34875488 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4).[0m ×2 + 15.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.21sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791578713.99640155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791578714.07661629 seconds ×3 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 16.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.12sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.32sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 16.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.33sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 16.33sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 59 warnings · 220 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216372 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216372 ms (missed cycles : 3).[0m ×2 + 1.12sINFOobjective_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 + 1.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.12sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.12sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.12sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.12sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193822 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193822 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.09sINFOros2_control_node[2026-10-09 20:45:59.026] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-10-09 20:45:59.026] [info] Accepted new action goal ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998157 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998157 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791578760.18268204 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864116 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864116 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 4.05sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791578760.98480344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127822 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127822 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 5.11sINFOros2_control_node[2026-10-09 20:46:02.045] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-10-09 20:46:02.045] [info] Accepted new action goal ×2 + 5.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×4 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634576 ms (missed cycles : 6). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634576 ms (missed cycles : 6).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361586 ms (missed cycles : 3). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361586 ms (missed cycles : 3).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449481 ms (missed cycles : 4). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449481 ms (missed cycles : 4).[0m ×2 + 8.82sINFOobjective_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 + 8.82sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.82sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.82sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.82sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917256 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917256 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685144 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685144 ms (missed cycles : 3).[0m ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.26sINFOros2_control_node[2026-10-09 20:46:08.193] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-10-09 20:46:08.193] [info] Accepted new action goal ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678089 ms (missed cycles : 2).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458535 ms (missed cycles : 4). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458535 ms (missed cycles : 4).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408139 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408139 ms (missed cycles : 3).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675141 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675141 ms (missed cycles : 2).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791578771.79694915 seconds ×3 + 15.41sINFOobjective_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: ""
+ 15.41sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791578772.41968155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 15.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.66sINFOros2_control_node[2026-10-09 20:46:12.596] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-10-09 20:46:12.596] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419148 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419148 ms (missed cycles : 3).[0m ×2 + 16.93sINFOobjective_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 + 16.94sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.868749 ms (missed cycles : 7). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.868749 ms (missed cycles : 7).[0m ×2 + 17.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.01sWARNros2_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 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681395 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681395 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 75 errors · 42 warnings · 473 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_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 + 1.06sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Got request to cancel active goal. ×2 + 1.07sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Canceling active goal... ×2 + 1.07sERRORobjective_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: 1791578929.87621403 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.61sINFOobjective_server_nodecaller: ×8 + 1.61sINFOobjective_server_nodetype: 0 ×8 + 1.61sINFOobjective_server_nodename: "" ×8 + 1.61sINFOobjective_server_nodeinstance_id: "" ×8 + 1.61sINFOobjective_server_node ×8 + 1.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578930.48182869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578930.94196796 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791578931.54823947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.74sINFOobjective_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 + 2.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791578931.55079055 seconds ×3 + 3.09sWARNros2_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 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791578932.16659713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791578932.21770072 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578932.82789397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578934.29803658 seconds ×3 + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394288 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394288 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283204 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283204 ms (missed cycles : 3).[0m ×2 + 8.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084239 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084239 ms (missed cycles : 4).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676664 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676664 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917400 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917400 ms (missed cycles : 2).[0m ×2 + 11.02sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 11.04sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_video_auth_proxy-25process has died [pid 8092, 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 + 11.04sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 11.05sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_bridge_auth_proxy-24process has died [pid 8091, 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 + 11.05sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 11.05sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 11.06sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 11.06sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 11.07sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.07sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.08sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.08sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.09sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.09sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.10sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.11sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.11sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.12sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.12sINFOvideo_server-23process has finished cleanly [pid 8090] ×2 + 11.13sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.13sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.13sINFOcontroller_managerShutdown request received.... + 11.13sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.13sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.13sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.13sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.13sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.13sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.13sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.13sINFOvideo_server2026/10/09 20:48:59 INF shutting down gracefully ×2 + 11.13sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.13sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.13sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.13sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.14sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOvideo_server2026/10/09 20:48:59 INF [WebRTC] closing ×2 + 11.14sINFOvideo_server2026/10/09 20:48:59 INF [RTSP] closing ×2 + 11.14sINFOvideo_server2026/10/09 20:48:59 INF waiting for running hooks ×2 + 11.14sINFOcontroller_managerShutting down the controller manager. + 11.14sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.14sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.14sERRORmove_groupStack trace (most recent call last) in thread 8491: ×2 + 11.14sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.14sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.14sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.14sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.14sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f338bb31cc3, in __clone ×2 + 11.14sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f338baa4b83, in ×2 + 11.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.14sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f338bd35db3, in ×2 + 11.14sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.14sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.15sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f338c49df14, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.15sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f338c0c9620, in rclcpp::Rate::sleep() ×2 + 11.15sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f338c00bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.15sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f338bfcd087, in ×2 + 11.15sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f338bd04390, in __cxa_throw ×2 + 11.15sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f338bceea54, in std::terminate() ×2 + 11.15sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f338bd040d9, in ×2 + 11.15sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f338bceeff4, in ×2 + 11.15sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f338ba308fe, in abort ×2 + 11.15sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f338ba4d27d, in raise ×2 + 11.15sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f338baa6c0c, in pthread_kill ×2 + 11.15sERRORmove_groupAborted (Signal sent by tkill() 7998 0) ×2 + 11.15sERRORmove_group-9process has died [pid 7998, 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_zzcw8a9f --params-file /tmp/launch_params_dwoqyion --params-file /tmp/launch_params_tqhf64zo --params-file /tmp/launch_params_vzwo9huw --params-file /tmp/launch_params_pnj0jaye --params-file /tmp/launch_params_5_7jf06f']. ×2 + 11.34sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.34sINFOros2_control_nodepublish_async_failures_ 3[0m ×4 + 12.09sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.09sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.09sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.09sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.09sINFOjoint_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 + 12.09sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.09sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.09sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.10sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.10sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.10sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.10sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.10sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.10sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.10sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.10sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 12.10sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 12.10sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 12.10sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOtf_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 + 12.10sINFOtf_visualization_relayrclpy.spin(node) ×2 + 12.10sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.10sINFOtf_visualization_relayexecutor.spin_once() ×2 + 12.10sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.10sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.10sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.10sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.10sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.10sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 12.10sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 12.10sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 12.10sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 12.10sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 12.11sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8088] ×2 + 12.11sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.16sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8002] ×2 + 12.16sERRORjoint_state_visualization_relay-21process has died [pid 8087, 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_ew4_2nz9']. ×2 + 12.16sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.16sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8001] ×2 + 12.16sERRORtf_visualization_relay-20process has died [pid 8086, 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__4ar6qch']. ×2 + 12.16sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.20sINFOui_teleop_bridge-18process has finished cleanly [pid 8007] ×2 + 12.20sINFOwaypoint_manager_node-11process has finished cleanly [pid 8000] ×2 + 12.21sINFOparameter_manager_node-10process has finished cleanly [pid 7999] ×2 + 12.21sINFOexecute_objective_bridge-17process has finished cleanly [pid 8006] ×2 + 12.26sINFOcomponent_container_mt-16process has finished cleanly [pid 8005] ×2 + 12.29sINFOobjective_server_node[0;m[2026-10-09 20:49:01.096] [moveit_pro_license] [info] ×2 + 12.29sINFOobjective_server_node************************************************* ×4 + 12.29sINFOobjective_server_node* MoveIt Pro License ×2 + 12.29sINFOobjective_server_node* Application has successfully terminated ×2 + 12.42sINFOobjective_server_node_main-14process has finished cleanly [pid 8003] ×2 + 12.42sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.29sINFOcomponent_container_mt-15process has finished cleanly [pid 8004] ×2 + 13.31sINFOweb_bridge-19process has finished cleanly [pid 8008] ×2 + 13.31sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.78sINFOros2_control_node-1process has finished cleanly [pid 7961] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 3 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.72sINFOobjective_server_nodecaller: ×14 + 1.72sINFOobjective_server_nodetype: 0 ×14 + 1.72sINFOobjective_server_nodename: "" ×14 + 1.72sINFOobjective_server_nodeinstance_id: "" ×14 + 1.72sINFOobjective_server_node ×14 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 4.09sWARNros2_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 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032074 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032074 ms (missed cycles : 2).[0m ×2 + 6.81sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.81sINFOros2_control_node[2026-10-09 20:48:42.855] [info] Received new action goal ×2 + 6.81sINFOros2_control_node[2026-10-09 20:48:42.855] [info] Accepted new action goal ×2 + 6.81sINFOros2_control_node[2026-10-09 20:48:42.855] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765364 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765364 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654327 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654327 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298130 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298130 ms (missed cycles : 4).[0m ×2 + 9.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2).[0m ×2 + 13.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.83sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Got request to cancel active goal. ×2 + 13.83sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Canceling active goal... ×2 + 13.83sERRORobjective_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: 1791578929.87621403 seconds ×3 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578930.48182869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578930.94196796 seconds ×3 + 15.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791578931.54823947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.50sINFOobjective_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 + 15.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791578931.55079055 seconds ×3 + 15.86sWARNros2_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 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5).[0m ×2 + 16.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.06sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791578932.16659713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791578932.21770072 seconds ×3 + 16.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.72sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578932.82789397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796422 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796422 ms (missed cycles : 2).[0m ×2 + 8.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989930 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989930 ms (missed cycles : 2).[0m ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 5 iterations (0.00537681 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.52sINFOros2_control_node[2026-10-09 20:44:23.366] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-10-09 20:44:23.366] [info] Accepted new action goal ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923302 ms (missed cycles : 5). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923302 ms (missed cycles : 5).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054324 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054324 ms (missed cycles : 3).[0m ×2 + 11.79sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774864 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774864 ms (missed cycles : 2).[0m ×2 + 12.06sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.06sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.06sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791578665.93139243 seconds ×3 + 12.09sINFOobjective_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 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298675 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298675 ms (missed cycles : 4).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983167 ms (missed cycles : 4). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983167 ms (missed cycles : 4).[0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.79sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791578668.63863993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 15.00sINFOros2_control_node[2026-10-09 20:44:28.843] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-10-09 20:44:28.843] [info] Accepted new action goal ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727526 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727526 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071757 ms (missed cycles : 5). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071757 ms (missed cycles : 5).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717977 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717977 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 63 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054324 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054324 ms (missed cycles : 3).[0m ×2 + 1.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774864 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774864 ms (missed cycles : 2).[0m ×2 + 1.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791578665.93139243 seconds ×3 + 1.30sINFOobjective_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298675 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298675 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983167 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983167 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 4.00sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791578668.63863993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.21sINFOros2_control_node[2026-10-09 20:44:28.843] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-09 20:44:28.843] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727526 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727526 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071757 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071757 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717977 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717977 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347291 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347291 ms (missed cycles : 2).[0m ×2 + 7.63sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.35sWARNros2_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 + 8.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755447 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755447 ms (missed cycles : 2).[0m ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 5 iterations (0.00573434 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×4 + 9.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.46sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334885 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334885 ms (missed cycles : 2).[0m ×2 + 9.60sINFOros2_control_node[2026-10-09 20:44:34.229] [info] Received new action goal ×2 + 9.60sINFOros2_control_node[2026-10-09 20:44:34.229] [info] Accepted new action goal ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906309 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906309 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888109 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888109 ms (missed cycles : 3).[0m ×2 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 12.11sINFOobjective_server_nodeFound path in 1 iterations (0.00345631 s). ×2 + 12.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.36sINFOros2_control_node[2026-10-09 20:44:36.998] [info] Received new action goal ×2 + 12.36sINFOros2_control_node[2026-10-09 20:44:36.998] [info] Accepted new action goal ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468138 ms (missed cycles : 8). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468138 ms (missed cycles : 8).[0m ×2 + 12.80sINFOros2_control_node[2026-10-09 20:44:37.430] [info] Received new action goal ×2 + 12.80sINFOros2_control_node[2026-10-09 20:44:37.430] [info] Accepted new action goal ×2 + 13.43sWARNros2_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 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212176 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212176 ms (missed cycles : 2).[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 + 14.33sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.33sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.33sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.36sERRORobjective_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: 1791578678.99548984 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006123 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006123 ms (missed cycles : 3).[0m ×2 + 15.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.04sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 15.18sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791578679.81023979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335051 ms (missed cycles : 6). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335051 ms (missed cycles : 6).[0m ×2 + 16.20sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 16.21sINFOros2_control_node[2026-10-09 20:44:40.844] [info] Received new action goal ×2 + 16.21sINFOros2_control_node[2026-10-09 20:44:40.844] [info] Accepted new action goal ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084107 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084107 ms (missed cycles : 2).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273661 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273661 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.939072 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.939072 ms (missed cycles : 8).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750715 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750715 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.65sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.68sINFOros2_control_node[2026-10-09 20:43:42.957] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-10-09 20:43:42.957] [info] Accepted new action goal ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-10-09 20:43:43.360] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-10-09 20:43:43.360] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1791578623.36983252 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839986 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839986 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_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: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.65sINFOobjective_server_nodecaller: ×6 + 2.65sINFOobjective_server_nodetype: 0 ×6 + 2.65sINFOobjective_server_nodename: "" ×6 + 2.65sINFOobjective_server_nodeinstance_id: "" ×6 + 2.65sINFOobjective_server_node ×6 + 2.68sWARNros2_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 + 2.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791578624.03939056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.01sINFOros2_control_node[2026-10-09 20:43:44.284] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-10-09 20:43:44.284] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166028 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166028 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056839 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056839 ms (missed cycles : 4).[0m ×2 + 5.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.30sINFOros2_control_node[2026-10-09 20:43:46.575] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-10-09 20:43:46.575] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799113 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799113 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943516 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943516 ms (missed cycles : 4).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876507 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876507 ms (missed cycles : 2).[0m ×2 + 7.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608932 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608932 ms (missed cycles : 2).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511414 ms (missed cycles : 3). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511414 ms (missed cycles : 3).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 13.09sERRORobjective_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: 1791578634.36002731 seconds ×3 + 13.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 13.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 14.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.41sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 14.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.70sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 + 7.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353671 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353671 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990135 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990135 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017648 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017648 ms (missed cycles : 2).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783937 ms (missed cycles : 5). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783937 ms (missed cycles : 5).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406625 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406625 ms (missed cycles : 3).[0m ×2 + 12.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672024 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672024 ms (missed cycles : 2).[0m ×2 + 13.89sERRORobjective_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: 1791578860.36139560 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646692 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646692 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791578860.99963379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 14.85sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.87sINFOros2_control_node[2026-10-09 20:47:41.335] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-10-09 20:47:41.335] [info] Accepted new action goal ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925238 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925238 ms (missed cycles : 2).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704183 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704183 ms (missed cycles : 2).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818263 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818263 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 54 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793343 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793343 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661476 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661476 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124499 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124499 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791578870.93534279 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791578871.57070684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.234003 ms (missed cycles : 11). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.234003 ms (missed cycles : 11).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.53sINFOros2_control_node[2026-10-09 20:47:51.705] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-10-09 20:47:51.705] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133473 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133473 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330354 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330354 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962458 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962458 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889043 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889043 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181033 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181033 ms (missed cycles : 4).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749094 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749094 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.511489 ms (missed cycles : 5). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.511489 ms (missed cycles : 5).[0m ×2 + 11.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540295 ms (missed cycles : 6). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540295 ms (missed cycles : 6).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430121 ms (missed cycles : 4). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430121 ms (missed cycles : 4).[0m ×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 + 13.69sERRORobjective_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: 1791578881.86105251 seconds ×3 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321105 ms (missed cycles : 5). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321105 ms (missed cycles : 5).[0m ×2 + 14.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.23sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.33sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791578882.49931598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022536 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022536 ms (missed cycles : 2).[0m ×2 + 15.35sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 15.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.36sINFOros2_control_node[2026-10-09 20:48:03.534] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-10-09 20:48:03.534] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775818 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775818 ms (missed cycles : 2).[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: 1791578609.61188579 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 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.80sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 4.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045580 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045580 ms (missed cycles : 4).[0m ×2 + 6.29sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.31sINFOros2_control_node[2026-10-09 20:43:35.925] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-10-09 20:43:35.925] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703799 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703799 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285904 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285904 ms (missed cycles : 2).[0m ×2 + 9.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352374 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352374 ms (missed cycles : 3).[0m ×2 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 9.99sINFOros2_control_node[2026-10-09 20:43:39.605] [info] Received new action goal ×2 + 9.99sINFOros2_control_node[2026-10-09 20:43:39.605] [info] Accepted new action goal ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128218 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128218 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.939072 ms (missed cycles : 8). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.939072 ms (missed cycles : 8).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750715 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750715 ms (missed cycles : 2).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.35sINFOros2_control_node[2026-10-09 20:43:42.957] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-10-09 20:43:42.957] [info] Accepted new action goal ×2 + 13.74sINFOobjective_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 + 13.75sINFOros2_control_node[2026-10-09 20:43:43.360] [info] Got request to cancel active goal. ×2 + 13.75sINFOros2_control_node[2026-10-09 20:43:43.360] [info] Canceling active goal... ×2 + 13.76sERRORobjective_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: 1791578623.36983252 seconds ×3 + 13.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839986 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839986 ms (missed cycles : 2).[0m ×2 + 14.31sINFOobjective_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: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.34sWARNros2_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 + 14.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791578624.03939056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 14.67sINFOros2_control_node[2026-10-09 20:43:44.284] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-10-09 20:43:44.284] [info] Accepted new action goal ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166028 ms (missed cycles : 4). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166028 ms (missed cycles : 4).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056839 ms (missed cycles : 4). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056839 ms (missed cycles : 4).[0m ×2 + 16.95sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 16.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.96sINFOros2_control_node[2026-10-09 20:43:46.575] [info] Received new action goal ×2 + 16.96sINFOros2_control_node[2026-10-09 20:43:46.575] [info] Accepted new action goal ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799113 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799113 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 57 warnings · 2055 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×309 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×309 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×618 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×618 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578838.48855758 seconds ×3 + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_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: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.01sINFOobjective_server_nodecaller: ×4 + 4.01sINFOobjective_server_nodetype: 0 ×4 + 4.01sINFOobjective_server_nodename: "" ×4 + 4.01sINFOobjective_server_nodeinstance_id: "" ×4 + 4.01sINFOobjective_server_node ×4 + 4.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791578839.25116396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.21sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_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 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888573 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888573 ms (missed cycles : 2).[0m ×2 + 8.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 1 iterations (0.00550676 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.04sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.06sINFOros2_control_node[2026-10-09 20:47:24.189] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-10-09 20:47:24.189] [info] Accepted new action goal ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111187 ms (missed cycles : 4). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111187 ms (missed cycles : 4).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186840 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186840 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 11.36sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 11.36sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 12.92sWARNros2_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 + 12.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.01sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 13.01sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 14.22sINFOobjective_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 + 14.23sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 14.23sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 14.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 14.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 15.12sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 17.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.14sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.00sINFOobjective_server_nodecaller: ×6 + 3.00sINFOobjective_server_nodetype: 0 ×6 + 3.00sINFOobjective_server_nodename: "" ×6 + 3.00sINFOobjective_server_nodeinstance_id: "" ×6 + 3.00sINFOobjective_server_node ×6 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.98sWARNros2_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 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2).[0m ×2 + 7.35sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.36sINFOros2_control_node[2026-10-09 20:44:10.303] [info] Received new action goal ×2 + 7.36sINFOros2_control_node[2026-10-09 20:44:10.303] [info] Accepted new action goal ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726020 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726020 ms (missed cycles : 2).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435908 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435908 ms (missed cycles : 2).[0m ×2 + 9.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 9.74sINFOros2_control_node[2026-10-09 20:44:12.679] [info] Received new action goal ×2 + 9.74sINFOros2_control_node[2026-10-09 20:44:12.679] [info] Accepted new action goal ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746809 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746809 ms (missed cycles : 2).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 12.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 12.09sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 12.09sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 13.91sINFOobjective_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 + 13.91sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 13.91sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 13.93sERRORobjective_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: 1791578656.87384200 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 14.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.82sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 14.82sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783937 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406625 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406625 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672024 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672024 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sERRORobjective_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: 1791578860.36139560 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646692 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646692 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791578860.99963379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.15sINFOros2_control_node[2026-10-09 20:47:41.335] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-09 20:47:41.335] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925238 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925238 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704183 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704183 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818263 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818263 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218849 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218849 ms (missed cycles : 3).[0m ×2 + 8.16sINFOros2_control_node[2026-10-09 20:47:45.350] [info] Received new action goal ×2 + 8.16sINFOros2_control_node[2026-10-09 20:47:45.350] [info] Accepted new action goal ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111751 ms (missed cycles : 5). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111751 ms (missed cycles : 5).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454975 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454975 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793343 ms (missed cycles : 4). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793343 ms (missed cycles : 4).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661476 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661476 ms (missed cycles : 2).[0m ×2 + 12.61sWARNros2_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 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124499 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124499 ms (missed cycles : 2).[0m ×2 + 13.75sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791578870.93534279 seconds ×3 + 14.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.30sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.38sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791578871.57070684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.234003 ms (missed cycles : 11). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.234003 ms (missed cycles : 11).[0m ×2 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 14.50sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.52sINFOros2_control_node[2026-10-09 20:47:51.705] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-10-09 20:47:51.705] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133473 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133473 ms (missed cycles : 2).[0m ×2 + 16.43sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330354 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330354 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.3s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 2.10sERRORobjective_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: 1791578634.36002731 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.64sINFOobjective_server_nodecaller: ×8 + 2.64sINFOobjective_server_nodetype: 0 ×8 + 2.64sINFOobjective_server_nodename: "" ×8 + 2.64sINFOobjective_server_nodeinstance_id: "" ×8 + 2.64sINFOobjective_server_node ×8 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4).[0m ×2 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.21sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275653 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275653 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.65sINFOobjective_server_nodeFound path in 1 iterations (0.00362385 s). ×2 + 7.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.89sINFOros2_control_node[2026-10-09 20:44:00.149] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-10-09 20:44:00.149] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015702 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015702 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682548 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682548 ms (missed cycles : 2).[0m ×2 + 10.19sINFOros2_control_node[2026-10-09 20:44:02.452] [info] Received new action goal ×2 + 10.19sINFOros2_control_node[2026-10-09 20:44:02.452] [info] Accepted new action goal ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 11.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.84sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 11.84sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 13.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 13.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 14.66sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.67sWARNros2_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 + 14.68sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 14.68sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 4.0s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791578713.34875488 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.53sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.53sINFOobjective_server_nodecaller: ×6 + 2.53sINFOobjective_server_nodetype: 0 ×6 + 2.53sINFOobjective_server_nodename: "" ×6 + 2.53sINFOobjective_server_nodeinstance_id: "" ×6 + 2.53sINFOobjective_server_node ×6 + 2.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791578713.99640155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791578714.07661629 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 6.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.32sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.40sINFOobjective_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 + 7.41sINFOobjective_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 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.74sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 7.74sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 28 warnings · 415 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7968] ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444003 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444003 ms (missed cycles : 4).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 2.09 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 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6).[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 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.70sINFOobjective_server_nodecaller: ×14 + 2.70sINFOobjective_server_nodetype: 0 ×14 + 2.70sINFOobjective_server_nodename: "" ×14 + 2.70sINFOobjective_server_nodeinstance_id: "" ×14 + 2.70sINFOobjective_server_node ×14 + 2.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 6.94sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 7.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.95sINFOobjective_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 + 7.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.08sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1791578929.87621403 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.69sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.69sINFOobjective_server_nodecaller: ×8 + 3.69sINFOobjective_server_nodetype: 0 ×8 + 3.69sINFOobjective_server_nodename: "" ×8 + 3.69sINFOobjective_server_nodeinstance_id: "" ×8 + 3.69sINFOobjective_server_node ×8 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578930.48182869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578930.94196796 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791578931.54823947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.81sINFOobjective_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 + 4.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791578931.55079055 seconds ×3 + 5.17sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791578932.16659713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791578932.21770072 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578932.82789397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2).[0m ×2 + 7.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578934.29803658 seconds ×3 + 7.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5).[0m ×2 + 0.23sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 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 ×6 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 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 ×6 + 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 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 6.26sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671587 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671587 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791578713.34875488 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791578713.99640155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791578714.07661629 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.58sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-10-09 20:44:02.452] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-09 20:44:02.452] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.48sWARNros2_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 + 4.49sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511414 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 3.16sERRORobjective_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: 1791578634.36002731 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.77sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_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 + 1.06sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Got request to cancel active goal. ×2 + 1.07sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Canceling active goal... ×2 + 1.07sERRORobjective_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: 1791578929.87621403 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.61sINFOobjective_server_nodecaller: ×8 + 1.61sINFOobjective_server_nodetype: 0 ×8 + 1.61sINFOobjective_server_nodename: "" ×8 + 1.61sINFOobjective_server_nodeinstance_id: "" ×8 + 1.61sINFOobjective_server_node ×8 + 1.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578930.48182869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578930.94196796 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791578931.54823947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.74sINFOobjective_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 + 2.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791578931.55079055 seconds ×3 + 3.09sWARNros2_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 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791578932.16659713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791578932.21770072 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578932.82789397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578934.29803658 seconds ×3 + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394288 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394288 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.7s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.55sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 5.26sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 27 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.09 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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6).[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 5.59sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 6.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 7.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_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 + 2.07sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Canceling active goal... ×2 + 2.08sERRORobjective_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: 1791578929.87621403 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.62sINFOobjective_server_nodecaller: ×8 + 2.62sINFOobjective_server_nodetype: 0 ×8 + 2.62sINFOobjective_server_nodename: "" ×8 + 2.62sINFOobjective_server_nodeinstance_id: "" ×8 + 2.62sINFOobjective_server_node ×8 + 2.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578930.48182869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578930.94196796 seconds ×3 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791578931.54823947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.75sINFOobjective_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 + 3.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791578931.55079055 seconds ×3 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791578932.16659713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791578932.21770072 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578932.82789397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735024 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578934.29803658 seconds ×3 + 6.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.98sWARNros2_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 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 25 warnings · 1939 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×309 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×309 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×618 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×618 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578838.48855758 seconds ×3 + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_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: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791578839.25116396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_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 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.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 4.511414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511414 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 3.16sERRORobjective_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: 1791578634.36002731 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.77sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_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 4.511414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511414 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 3.16sERRORobjective_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: 1791578634.36002731 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.77sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 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 2.547350 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 2.10sERRORobjective_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: 1791578634.36002731 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4).[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 2.547350 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 2.10sERRORobjective_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: 1791578634.36002731 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4).[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 2.547350 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 2.10sERRORobjective_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: 1791578634.36002731 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4).[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 2.547350 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547350 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219101 ms (missed cycles : 5).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447634 ms (missed cycles : 5).[0m ×2 + 2.10sERRORobjective_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: 1791578634.36002731 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791578634.96001577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791578635.07135558 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169590 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791578635.75800943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-10-09 20:43:55.972] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911049 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287877 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073496 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.98sWARNros2_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 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.98sWARNros2_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 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.98sWARNros2_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 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923319 ms (missed cycles : 4).[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228778 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-10-09 20:44:04.105] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469946 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791578645.39995122 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791578646.03284621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791578646.11300826 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.252366 ms (missed cycles : 7).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791578646.79805946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.98sWARNros2_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 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-09 20:44:06.943] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606332 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230315 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635514 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671246 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198313 ms (missed cycles : 4).[0m ×2 + 1.18sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.031] [info] Received new action goal ×2 + 1.19sINFOros2_control_node[2026-10-09 20:44:15.032] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893878 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-10-09 20:44:16.858] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1791578656.87384200 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730448 ms (missed cycles : 3).[0m ×2 + 3.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791578657.53909683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-09 20:44:17.759] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611849 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798563 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679830 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888109 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888109 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00345631 s). ×2 + 0.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOros2_control_node[2026-10-09 20:44:36.998] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-10-09 20:44:36.998] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468138 ms (missed cycles : 8). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468138 ms (missed cycles : 8).[0m ×2 + 1.06sINFOros2_control_node[2026-10-09 20:44:37.430] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-10-09 20:44:37.430] [info] Accepted new action goal ×2 + 1.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212176 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212176 ms (missed cycles : 2).[0m ×2 + 2.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.58sINFOobjective_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 + 2.59sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.59sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.63sERRORobjective_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: 1791578678.99548984 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006123 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006123 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live 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: "Live 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 + 3.44sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791578679.81023979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335051 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335051 ms (missed cycles : 6).[0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-10-09 20:44:40.844] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-10-09 20:44:40.844] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084107 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084107 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273661 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273661 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671587 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671587 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193178 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767687 ms (missed cycles : 5).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791578713.34875488 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183008 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791578713.99640155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791578714.07661629 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.58sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344438 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791578714.89590406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-10-09 20:45:15.025] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242229 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095069 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791578717.03606129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718106 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791578718.68059516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018692 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-10-09 20:45:19.099] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454630 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458535 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458535 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408139 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408139 ms (missed cycles : 3).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675141 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675141 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791578771.79694915 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791578772.41968155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.21sINFOros2_control_node[2026-10-09 20:46:12.596] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-10-09 20:46:12.596] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419148 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419148 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_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 + 4.49sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.868749 ms (missed cycles : 7). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.868749 ms (missed cycles : 7).[0m ×2 + 4.55sINFOobjective_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 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681395 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681395 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 25 warnings · 1939 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×309 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×309 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×618 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×618 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578838.48855758 seconds ×3 + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_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: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791578839.25116396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_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 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 25 warnings · 1939 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×309 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×309 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×618 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×618 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578838.48855758 seconds ×3 + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_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: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791578839.25116396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_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 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 25 warnings · 1939 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×309 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×309 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×618 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×618 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578838.48855758 seconds ×3 + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_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: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791578839.25116396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_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 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 25 warnings · 1939 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×309 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×309 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×618 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×618 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721788 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327209 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697530 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791578838.48855758 seconds ×3 + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035352 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_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: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791578839.25116396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-10-09 20:47:19.555] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728320 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202408 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699255 ms (missed cycles : 2).[0m ×2 + 6.92sWARNros2_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 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083105 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-10-09 20:47:26.491] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sWARNros2_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 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-09 20:47:28.135] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493756 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-09 20:47:29.361] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578849.36648154 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771218 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791578850.06053090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-10-09 20:47:30.246] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043211 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703524 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337850 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 6.783937 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783937 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406625 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406625 ms (missed cycles : 3).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672024 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672024 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sERRORobjective_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: 1791578860.36139560 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646692 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646692 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791578860.99963379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.15sINFOros2_control_node[2026-10-09 20:47:41.335] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-09 20:47:41.335] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925238 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925238 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704183 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704183 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818263 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818263 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793343 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793343 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661476 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661476 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124499 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124499 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791578870.93534279 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.40sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791578871.57070684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.234003 ms (missed cycles : 11). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.234003 ms (missed cycles : 11).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.53sINFOros2_control_node[2026-10-09 20:47:51.705] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-10-09 20:47:51.705] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133473 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133473 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330354 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330354 ms (missed cycles : 2).[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 7.511489 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.511489 ms (missed cycles : 5).[0m ×2 + 0.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540295 ms (missed cycles : 6). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540295 ms (missed cycles : 6).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430121 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430121 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_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 + 2.75sERRORobjective_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: 1791578881.86105251 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321105 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321105 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791578882.49931598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022536 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022536 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.42sINFOros2_control_node[2026-10-09 20:48:03.534] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-09 20:48:03.534] [info] Accepted new action goal ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775818 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775818 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 25 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5).[0m ×2 + 0.23sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 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 ×6 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 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 ×6 + 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 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 6.26sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 25 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5).[0m ×2 + 0.23sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 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 ×6 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 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 ×6 + 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 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 6.26sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 25 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.179580 ms (missed cycles : 5).[0m ×2 + 0.23sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961373 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 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 ×6 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 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 ×6 + 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 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.86sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 6.26sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.72sINFOobjective_server_nodecaller: ×6 + 1.72sINFOobjective_server_nodetype: 0 ×6 + 1.72sINFOobjective_server_nodename: "" ×6 + 1.72sINFOobjective_server_nodeinstance_id: "" ×6 + 1.72sINFOobjective_server_node ×6 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 4.09sWARNros2_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 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.72sINFOobjective_server_nodecaller: ×6 + 1.72sINFOobjective_server_nodetype: 0 ×6 + 1.72sINFOobjective_server_nodename: "" ×6 + 1.72sINFOobjective_server_nodeinstance_id: "" ×6 + 1.72sINFOobjective_server_node ×6 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 4.09sWARNros2_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 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.72sINFOobjective_server_nodecaller: ×6 + 1.72sINFOobjective_server_nodetype: 0 ×6 + 1.72sINFOobjective_server_nodename: "" ×6 + 1.72sINFOobjective_server_nodeinstance_id: "" ×6 + 1.72sINFOobjective_server_node ×6 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 4.09sWARNros2_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 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.691294 ms (missed cycles : 5).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791578917.14221430 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760512 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.72sINFOobjective_server_nodecaller: ×6 + 1.72sINFOobjective_server_nodetype: 0 ×6 + 1.72sINFOobjective_server_nodename: "" ×6 + 1.72sINFOobjective_server_nodeinstance_id: "" ×6 + 1.72sINFOobjective_server_node ×6 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791578917.98746347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791578918.08760357 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750471 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791578918.72667527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791578918.75031304 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012811 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791578919.43070602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-10-09 20:48:39.554] [info] Accepted new action goal ×2 + 4.09sWARNros2_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 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715037 ms (missed cycles : 6).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788375 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1791578929.87621403 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.69sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.69sINFOobjective_server_nodecaller: ×8 + 3.69sINFOobjective_server_nodetype: 0 ×8 + 3.69sINFOobjective_server_nodename: "" ×8 + 3.69sINFOobjective_server_nodeinstance_id: "" ×8 + 3.69sINFOobjective_server_node ×8 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578930.48182869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578930.94196796 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791578931.54823947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.81sINFOobjective_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 + 4.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791578931.55079055 seconds ×3 + 5.17sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791578932.16659713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791578932.21770072 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578932.82789397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705593 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691078 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720645 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-10-09 20:48:49.867] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1791578929.87621403 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.69sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.69sINFOobjective_server_nodecaller: ×8 + 3.69sINFOobjective_server_nodetype: 0 ×8 + 3.69sINFOobjective_server_nodename: "" ×8 + 3.69sINFOobjective_server_nodeinstance_id: "" ×8 + 3.69sINFOobjective_server_node ×8 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578930.48182869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763641 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578930.94196796 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791578931.54823947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.81sINFOobjective_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 + 4.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791578931.55079055 seconds ×3 + 5.17sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312444 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791578932.16659713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791578932.21770072 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578932.82789397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177558 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 10.6s | 51 warnings · 765 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/2026-10-09-20-43-17-506629-245f6bd3b3eb-7913 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.70sINFOcontroller_managerupdate rate is 600 Hz + 0.70sINFOcontroller_managerOverruns handling is : enabled + 0.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.70sWARNcontroller_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. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874191 ms (missed cycles : 2). + 0.92sINFOros2_control_node-1process started with pid [7961] ×2 + 0.92sINFOmove_group-9process started with pid [7998] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [7999] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8000] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8001] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8002] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8003] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8004] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8005] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8006] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8007] ×2 + 0.92sINFOweb_bridge-19process started with pid [8008] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8086] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8087] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8088] ×2 + 0.93sINFOvideo_server-23process started with pid [8090] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8091] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8092] ×2 + 0.94sINFOros2-2process started with pid [7962] ×2 + 0.94sINFOros2-3process started with pid [7963] ×2 + 0.94sINFOros2-4process started with pid [7964] ×2 + 0.94sINFOros2-5process started with pid [7965] ×2 + 0.94sINFOros2-6process started with pid [7966] ×2 + 0.94sINFOros2-7process started with pid [7967] ×2 + 0.94sINFOros2-8process started with pid [7968] ×2 + 0.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.94sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.94sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.95sWARNros2_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 + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874191 ms (missed cycles : 2).[0m ×2 + 1.01sINFOcontroller_managerReceived robot description from topic. + 1.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.02sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.02sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF configuration loaded from /tmp/moveit-webrtc-ptj8o1kt/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.63sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sINFOweb_video_auth_proxy2026-10-09 20:43:19,600 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.76sINFOweb_video_auth_proxy2026-10-09 20:43:19,604 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.76sINFOweb_bridge_auth_proxy2026-10-09 20:43:19,608 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229958 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229958 ms (missed cycles : 2).[0m ×2 + 1.91sINFOmove_group[2026-10-09 20:43:19.749] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.20sINFOwaypoint_manager_node[2026-10-09 20:43:20.048] [moveit_pro_license] [info] ×2 + 2.20sINFOwaypoint_manager_node************************************************* ×4 + 2.20sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.20sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.29sINFOmove_group ×4 + 2.29sINFOmove_group[92mYou can start planning now![0m ×2 + 2.30sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.30sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.30sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.30sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.30sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.32sINFOros2_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 + 2.32sINFOros2_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 + 3.32sINFOobjective_server_node[2026-10-09 20:43:21.164] [moveit_pro_license] [info] ×2 + 3.32sINFOobjective_server_node************************************************* ×4 + 3.32sINFOobjective_server_node* MoveIt Pro License ×2 + 3.32sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.49sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.65sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.65sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.39sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.39sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 4.40sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.40sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.40sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.40sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.40sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.40sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.40sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.40sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.40sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.40sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.40sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.40sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.40sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.40sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.40sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.40sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.40sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.40sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.40sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.40sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.40sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.40sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.40sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.40sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.40sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.40sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.40sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.40sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.40sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.41sINFOcomponent_container_mt[2026-10-09 20:43:22.257] [moveit_pro_license] [info] ×2 + 4.41sINFOcomponent_container_mt************************************************* ×4 + 4.41sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf + 4.64sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf [0m ×2 + 4.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818462 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818462 ms (missed cycles : 2).[0m ×2 + 4.90sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.90sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.94sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.95sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.95sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.97sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.97sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.97sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.97sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf + 4.97sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf [0m ×2 + 5.01sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.01sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.02sINFOros2-5process has finished cleanly [pid 7965] ×2 + 5.02sINFOforce_torque_sensor_broadcasterconfigure successful + 5.02sINFOros2_control_nodeconfigure successful[0m ×2 + 5.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.40sINFOros2-2process has finished cleanly [pid 7962] ×2 + 5.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf + 5.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf [0m ×2 + 5.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.55sINFOros2_control_node[2026-10-09 20:43:23.389] [info] Controller state will be published at 10 Hz. ×2 + 5.55sINFOros2_control_node[2026-10-09 20:43:23.390] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706558 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706558 ms (missed cycles : 2).[0m ×2 + 5.79sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf + 5.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf [0m ×2 + 5.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.82sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.83sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.83sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.83sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.85sINFOros2-7process has finished cleanly [pid 7967] ×2 + 6.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf + 6.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf [0m ×2 + 6.17sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.17sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.17sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.17sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.17sINFOros2-3process has finished cleanly [pid 7963] ×2 + 6.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.49sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.49sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.49sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.49sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.52sINFOros2-4process has finished cleanly [pid 7964] ×2 + 6.59sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf + 6.59sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf [0m ×2 + 6.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.63sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.63sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.63sINFOros2_control_node[2026-10-09 20:43:24.473] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.63sINFOros2_control_node[2026-10-09 20:43:24.473] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.67sINFOros2_control_node[2026-10-09 20:43:24.511] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.67sINFOros2_control_node[2026-10-09 20:43:24.511] [info] Controller state will be published at 50 Hz. ×2 + 6.67sWARNobjective_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 + 6.68sINFOros2_control_node[2026-10-09 20:43:24.519] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002152 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002152 ms (missed cycles : 2).[0m ×2 + 6.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.04sINFOros2-6process has finished cleanly [pid 7966] ×2 + 7.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf + 7.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m1w8anrf --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_o5hi85sm --params-file /tmp/launch_params_0nqm4ybf [0m ×2 + 7.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.13sINFOros2_control_node[2026-10-09 20:43:24.975] [info] Controller state will be published at 20 Hz. ×2 + 7.13sINFOros2_control_node[2026-10-09 20:43:24.975] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.48sINFOros2-8process has finished cleanly [pid 7968] ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444003 ms (missed cycles : 4). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444003 ms (missed cycles : 4).[0m ×2 + 8.83sWARNros2_control_nodeCamera render tick took 2.09 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 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6).[0m ×2 + 9.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 9.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 9.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 9.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 9.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 9.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 9.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 9.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 9.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 9.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 9.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 9.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 9.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 10.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 10.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 10.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 10.18sINFOobjective_server_nodecaller: ×10 + 10.18sINFOobjective_server_nodetype: 0 ×10 + 10.18sINFOobjective_server_nodename: "" ×10 + 10.18sINFOobjective_server_nodeinstance_id: "" ×10 + 10.18sINFOobjective_server_node ×10 + 10.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 10.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 10.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 10.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 10.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 11.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 12.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 12.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 13.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 13.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 13.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 386 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.05sINFOobjective_server_nodecaller: ×14 + 0.05sINFOobjective_server_nodetype: 0 ×14 + 0.05sINFOobjective_server_nodename: "" ×14 + 0.05sINFOobjective_server_nodeinstance_id: "" ×14 + 0.05sINFOobjective_server_node ×14 + 0.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 4.29sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.43sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 5.43sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.69sINFOobjective_server_nodecaller: ×14 + 0.69sINFOobjective_server_nodetype: 0 ×14 + 0.69sINFOobjective_server_nodename: "" ×14 + 0.69sINFOobjective_server_nodeinstance_id: "" ×14 + 0.69sINFOobjective_server_node ×14 + 0.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.06sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.07sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 189 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/2026-10-09-20-43-17-506629-245f6bd3b3eb-7913 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.70sINFOcontroller_managerupdate rate is 600 Hz + 0.70sINFOcontroller_managerOverruns handling is : enabled + 0.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.70sWARNcontroller_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. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874191 ms (missed cycles : 2). + 0.92sINFOros2_control_node-1process started with pid [7961] ×2 + 0.92sINFOmove_group-9process started with pid [7998] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [7999] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8000] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8001] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8002] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8003] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8004] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8005] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8006] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8007] ×2 + 0.92sINFOweb_bridge-19process started with pid [8008] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8086] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8087] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8088] ×2 + 0.93sINFOvideo_server-23process started with pid [8090] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8091] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8092] ×2 + 0.94sINFOros2-2process started with pid [7962] ×2 + 0.94sINFOros2-3process started with pid [7963] ×2 + 0.94sINFOros2-4process started with pid [7964] ×2 + 0.94sINFOros2-5process started with pid [7965] ×2 + 0.94sINFOros2-6process started with pid [7966] ×2 + 0.94sINFOros2-7process started with pid [7967] ×2 + 0.94sINFOros2-8process started with pid [7968] ×2 + 0.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.94sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.94sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.95sWARNros2_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 + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874191 ms (missed cycles : 2).[0m ×2 + 1.01sINFOcontroller_managerReceived robot description from topic. + 1.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.02sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.02sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF configuration loaded from /tmp/moveit-webrtc-ptj8o1kt/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/09 20:43:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.63sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.63sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sINFOweb_video_auth_proxy2026-10-09 20:43:19,600 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.76sINFOweb_video_auth_proxy2026-10-09 20:43:19,604 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.76sINFOweb_bridge_auth_proxy2026-10-09 20:43:19,608 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229958 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229958 ms (missed cycles : 2).[0m ×2 + 1.91sINFOmove_group[2026-10-09 20:43:19.749] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.20sINFOwaypoint_manager_node[2026-10-09 20:43:20.048] [moveit_pro_license] [info] ×2 + 2.20sINFOwaypoint_manager_node************************************************* ×4 + 2.20sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.20sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.29sINFOmove_group ×4 + 2.29sINFOmove_group[92mYou can start planning now![0m ×2 + 2.30sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.30sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.30sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.30sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.30sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.32sINFOros2_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 + 2.32sINFOros2_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 + 3.32sINFOobjective_server_node[2026-10-09 20:43:21.164] [moveit_pro_license] [info] ×2 + 3.32sINFOobjective_server_node************************************************* ×4 + 3.32sINFOobjective_server_node* MoveIt Pro License ×2 + 3.32sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.49sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.09 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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6).[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 5.59sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 6.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.09 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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6).[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 5.59sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 6.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.09 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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448504 ms (missed cycles : 6).[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 5.59sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 6.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 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 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.69sINFOobjective_server_nodecaller: ×14 + 0.69sINFOobjective_server_nodetype: 0 ×14 + 0.69sINFOobjective_server_nodename: "" ×14 + 0.69sINFOobjective_server_nodeinstance_id: "" ×14 + 0.69sINFOobjective_server_node ×14 + 0.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.06sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.07sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 6.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 383 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289742 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.05sINFOobjective_server_nodecaller: ×14 + 0.05sINFOobjective_server_nodetype: 0 ×14 + 0.05sINFOobjective_server_nodename: "" ×14 + 0.05sINFOobjective_server_nodeinstance_id: "" ×14 + 0.05sINFOobjective_server_node ×14 + 0.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578608.07930017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578608.09001589 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 4.29sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.43sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 5.43sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 23 warnings · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045580 ms (missed cycles : 4). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045580 ms (missed cycles : 4).[0m ×2 + 7.20sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.22sINFOros2_control_node[2026-10-09 20:43:35.925] [info] Received new action goal ×2 + 7.22sINFOros2_control_node[2026-10-09 20:43:35.925] [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 | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791578608.70173764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254407 ms (missed cycles : 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791578609.61188579 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410034 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791578610.23835850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791578610.29854512 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578610.97018313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578610.99031281 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331902 ms (missed cycles : 6).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578611.59418035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578611.74474478 seconds ×3 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578612.45638990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804665 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578612.51652551 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791578613.25991583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_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 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (2.3398e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-09 20:43:33.407] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321772 ms (missed cycles : 5).[0m ×2 + 5.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048332 ms (missed cycles : 2).[0m ×2 | ||||