136
Total objective tests
34
Objectives passed
0
Objectives failed
102
Objectives skipped
10.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 153 warnings · 31584 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271373 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271373 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753006 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753006 ms (missed cycles : 3).[0m ×2 + 2.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290713 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290713 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791496643.93486643 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791496644.52780318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537235 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537235 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.41sINFOros2_control_node[2026-10-08 21:57:24.681] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-10-08 21:57:24.681] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794106 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794106 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.74sINFOobjective_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 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657467 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657467 ms (missed cycles : 3).[0m ×2 + 6.10sINFOjoint_trajectory_controllerReceived new action goal ×5220 + 6.10sINFOjoint_trajectory_controllerAccepted new action goal ×5220 + 6.10sINFOros2_control_nodeReceived new action goal[0m ×10440 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×10440 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251459 ms (missed cycles : 4). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251459 ms (missed cycles : 4).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446291 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446291 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909969 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909969 ms (missed cycles : 2).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488956 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488956 ms (missed cycles : 2).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661379 ms (missed cycles : 6). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661379 ms (missed cycles : 6).[0m ×2 + 11.74sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.74sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.75sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.75sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837758 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837758 ms (missed cycles : 2).[0m ×2 + 12.49sWARNros2_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 ×4 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624473 ms (missed cycles : 5). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624473 ms (missed cycles : 5).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127806 ms (missed cycles : 3). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127806 ms (missed cycles : 3).[0m ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580065 ms (missed cycles : 2). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580065 ms (missed cycles : 2).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432992 ms (missed cycles : 3). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432992 ms (missed cycles : 3).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808714 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808714 ms (missed cycles : 2).[0m ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904063 ms (missed cycles : 2). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904063 ms (missed cycles : 2).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629876 ms (missed cycles : 3). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629876 ms (missed cycles : 3).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 21.55sWARNros2_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 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022325 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022325 ms (missed cycles : 3).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174966 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174966 ms (missed cycles : 2).[0m ×2 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940155 ms (missed cycles : 3). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940155 ms (missed cycles : 3).[0m ×2 + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793881 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793881 ms (missed cycles : 2).[0m ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820818 ms (missed cycles : 2). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820818 ms (missed cycles : 2).[0m ×2 + 26.39sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460516 ms (missed cycles : 3). + 27.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460516 ms (missed cycles : 3).[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931015 ms (missed cycles : 2). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931015 ms (missed cycles : 2).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869673 ms (missed cycles : 2). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869673 ms (missed cycles : 2).[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557030 ms (missed cycles : 2). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557030 ms (missed cycles : 2).[0m ×2 + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754705 ms (missed cycles : 2). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754705 ms (missed cycles : 2).[0m ×2 + 32.53sWARNros2_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 + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260605 ms (missed cycles : 2). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260605 ms (missed cycles : 2).[0m ×2 + 33.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214573 ms (missed cycles : 2). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214573 ms (missed cycles : 2).[0m ×2 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176619 ms (missed cycles : 2). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176619 ms (missed cycles : 2).[0m ×2 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950996 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950996 ms (missed cycles : 3).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316880 ms (missed cycles : 2). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316880 ms (missed cycles : 2).[0m ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141979 ms (missed cycles : 2). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141979 ms (missed cycles : 2).[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023683 ms (missed cycles : 2). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023683 ms (missed cycles : 2).[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442485 ms (missed cycles : 2). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442485 ms (missed cycles : 2).[0m ×2 + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578791 ms (missed cycles : 4). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578791 ms (missed cycles : 4).[0m ×2 + 42.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016174 ms (missed cycles : 2). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016174 ms (missed cycles : 2).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095964 ms (missed cycles : 3). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095964 ms (missed cycles : 3).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091385 ms (missed cycles : 2). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091385 ms (missed cycles : 2).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941985 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941985 ms (missed cycles : 2).[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553436 ms (missed cycles : 3). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553436 ms (missed cycles : 3).[0m ×2 + 47.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496688.39991379 seconds ×3 + 47.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.68sINFOobjective_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: ""
+ 47.68sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791496689.03109241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.81sINFOobjective_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 + 47.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.88sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 47.89sINFOros2_control_node[2026-10-08 21:58:09.164] [info] Received new action goal ×2 + 47.89sINFOros2_control_node[2026-10-08 21:58:09.164] [info] Accepted new action goal ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693510 ms (missed cycles : 3). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693510 ms (missed cycles : 3).[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592139 ms (missed cycles : 2). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592139 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.6s | 154 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760149 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760149 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420349 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420349 ms (missed cycles : 3).[0m ×2 + 9.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 9.87sINFOros2_control_node[2026-10-08 21:56:36.653] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-10-08 21:56:36.653] [info] Accepted new action goal ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543260 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543260 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891532 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891532 ms (missed cycles : 2).[0m ×2 + 11.68sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865978 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865978 ms (missed cycles : 2).[0m ×2 + 12.82sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 12.83sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 12.87sINFOros2_control_node[2026-10-08 21:56:39.658] [info] Received new action goal ×2 + 12.87sINFOros2_control_node[2026-10-08 21:56:39.658] [info] Accepted new action goal ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122812 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122812 ms (missed cycles : 2).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886164 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886164 ms (missed cycles : 2).[0m ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309695 ms (missed cycles : 3). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309695 ms (missed cycles : 3).[0m ×2 + 15.83sINFOobjective_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 + 15.83sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 15.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 15.83sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 15.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 15.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 15.84sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 15.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 15.84sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709099 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709099 ms (missed cycles : 2).[0m ×2 + 16.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858237 ms (missed cycles : 3). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858237 ms (missed cycles : 3).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609856 ms (missed cycles : 2). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609856 ms (missed cycles : 2).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145750 ms (missed cycles : 3). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145750 ms (missed cycles : 3).[0m ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478104 ms (missed cycles : 4). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478104 ms (missed cycles : 4).[0m ×2 + 20.88sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005359 ms (missed cycles : 2). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005359 ms (missed cycles : 2).[0m ×2 + 22.74sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×8 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134463 ms (missed cycles : 3). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134463 ms (missed cycles : 3).[0m ×2 + 23.41sINFOobjective_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 + 23.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.41sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.41sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.41sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.41sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047842 ms (missed cycles : 3). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047842 ms (missed cycles : 3).[0m ×2 + 24.34sINFOros2_control_node[2026-10-08 21:56:51.128] [info] Received new action goal ×2 + 24.34sINFOros2_control_node[2026-10-08 21:56:51.128] [info] Accepted new action goal ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887691 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887691 ms (missed cycles : 2).[0m ×2 + 25.53sINFOobjective_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 + 25.54sINFOobjective_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 + 25.84sINFOros2_control_node[2026-10-08 21:56:52.631] [info] Received new action goal ×2 + 25.84sINFOros2_control_node[2026-10-08 21:56:52.631] [info] Accepted new action goal ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136262 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136262 ms (missed cycles : 3).[0m ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766557 ms (missed cycles : 4). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766557 ms (missed cycles : 4).[0m ×2 + 28.10sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 28.10sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.11sINFOros2_control_node[2026-10-08 21:56:54.898] [info] Received new action goal ×2 + 28.11sINFOros2_control_node[2026-10-08 21:56:54.898] [info] Accepted new action goal ×2 + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718410 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718410 ms (missed cycles : 2).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383673 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383673 ms (missed cycles : 2).[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845732 ms (missed cycles : 3). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845732 ms (missed cycles : 3).[0m ×2 + 31.11sINFOros2_control_node[2026-10-08 21:56:57.898] [info] Received new action goal ×2 + 31.11sINFOros2_control_node[2026-10-08 21:56:57.898] [info] Accepted new action goal ×2 + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137854 ms (missed cycles : 3). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137854 ms (missed cycles : 3).[0m ×2 + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683865 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683865 ms (missed cycles : 2).[0m ×2 + 33.70sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 33.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.75sINFOros2_control_node[2026-10-08 21:57:00.532] [info] Received new action goal ×2 + 33.75sINFOros2_control_node[2026-10-08 21:57:00.532] [info] Accepted new action goal ×2 + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370314 ms (missed cycles : 2). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370314 ms (missed cycles : 2).[0m ×2 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773968 ms (missed cycles : 3). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773968 ms (missed cycles : 3).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691650 ms (missed cycles : 3). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691650 ms (missed cycles : 3).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132534 ms (missed cycles : 2). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132534 ms (missed cycles : 2).[0m ×2 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573045 ms (missed cycles : 3). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573045 ms (missed cycles : 3).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297499 ms (missed cycles : 2). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297499 ms (missed cycles : 2).[0m ×2 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808558 ms (missed cycles : 2). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808558 ms (missed cycles : 2).[0m ×2 + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512165 ms (missed cycles : 3). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512165 ms (missed cycles : 3).[0m ×2 + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888280 ms (missed cycles : 2). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888280 ms (missed cycles : 2).[0m ×2 + 43.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413075 ms (missed cycles : 2). + 43.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413075 ms (missed cycles : 2).[0m ×2 + 44.48sINFOros2_control_node[2026-10-08 21:57:11.268] [info] Received new action goal ×2 + 44.48sINFOros2_control_node[2026-10-08 21:57:11.268] [info] Accepted new action goal ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534229 ms (missed cycles : 4). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534229 ms (missed cycles : 4).[0m ×2 + 45.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791496632.42470241 seconds ×3 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193308 ms (missed cycles : 2). + 45.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193308 ms (missed cycles : 2).[0m ×2 + 46.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.23sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.42sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791496633.20471001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181888 ms (missed cycles : 3). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181888 ms (missed cycles : 3).[0m ×2 + 47.42sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 47.43sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.44sINFOros2_control_node[2026-10-08 21:57:14.229] [info] Received new action goal ×2 + 47.44sINFOros2_control_node[2026-10-08 21:57:14.229] [info] Accepted new action goal ×2 + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937275 ms (missed cycles : 3). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937275 ms (missed cycles : 3).[0m ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347076 ms (missed cycles : 3). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347076 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.1s | 3 errors · 125 warnings · 299 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939370 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939370 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816012 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816012 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148546 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148546 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_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 + 2.31sERRORobjective_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: 1791496754.06225038 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.86sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.86sINFOobjective_server_nodecaller: ×8 + 2.86sINFOobjective_server_nodetype: 0 ×8 + 2.86sINFOobjective_server_nodename: "" ×8 + 2.86sINFOobjective_server_nodeinstance_id: "" ×8 + 2.86sINFOobjective_server_node ×8 + 2.92sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791496754.66615438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169769 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169769 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-10-08 21:59:15.670] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-10-08 21:59:15.670] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803225 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803225 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464225 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464225 ms (missed cycles : 6).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859046 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859046 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143767 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143767 ms (missed cycles : 2).[0m ×2 + 7.99sWARNros2_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 + 8.23sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.24sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.28sINFOros2_control_node[2026-10-08 21:59:20.027] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-10-08 21:59:20.027] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266179 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266179 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087531 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087531 ms (missed cycles : 2).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751572 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751572 ms (missed cycles : 3).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688122 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688122 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252476 ms (missed cycles : 3). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252476 ms (missed cycles : 3).[0m ×2 + 13.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985991 ms (missed cycles : 3). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985991 ms (missed cycles : 3).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542915 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542915 ms (missed cycles : 3).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616545 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616545 ms (missed cycles : 3).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265157 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265157 ms (missed cycles : 2).[0m ×2 + 18.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 18.04sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 18.05sINFOros2_control_node[2026-10-08 21:59:29.798] [info] Received new action goal ×2 + 18.05sINFOros2_control_node[2026-10-08 21:59:29.798] [info] Accepted new action goal ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890921 ms (missed cycles : 4). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890921 ms (missed cycles : 4).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991659 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991659 ms (missed cycles : 2).[0m ×2 + 19.89sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657442 ms (missed cycles : 4). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657442 ms (missed cycles : 4).[0m ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680329 ms (missed cycles : 2). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680329 ms (missed cycles : 2).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174823 ms (missed cycles : 5). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174823 ms (missed cycles : 5).[0m ×2 + 23.21sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 23.23sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 23.26sINFOros2_control_node[2026-10-08 21:59:35.010] [info] Received new action goal ×2 + 23.26sINFOros2_control_node[2026-10-08 21:59:35.010] [info] Accepted new action goal ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479421 ms (missed cycles : 3). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479421 ms (missed cycles : 3).[0m ×2 + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931277 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931277 ms (missed cycles : 2).[0m ×2 + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316134 ms (missed cycles : 4). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316134 ms (missed cycles : 4).[0m ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591800 ms (missed cycles : 3). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591800 ms (missed cycles : 3).[0m ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699012 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699012 ms (missed cycles : 3).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217481 ms (missed cycles : 4). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217481 ms (missed cycles : 4).[0m ×2 + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473420 ms (missed cycles : 3). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473420 ms (missed cycles : 3).[0m ×2 + 30.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952005 ms (missed cycles : 5). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952005 ms (missed cycles : 5).[0m ×2 + 32.57sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 32.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 32.59sINFOros2_control_node[2026-10-08 21:59:44.335] [info] Received new action goal ×2 + 32.59sINFOros2_control_node[2026-10-08 21:59:44.335] [info] Accepted new action goal ×2 + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773320 ms (missed cycles : 2). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773320 ms (missed cycles : 2).[0m ×2 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2). + 34.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2).[0m ×2 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 35.92sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 36.37sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 36.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 36.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 36.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 37.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 37.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 37.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 37.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 37.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 37.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 37.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 37.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.87sINFOobjective_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 + 37.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 38.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 38.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.67sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 38.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 38.68sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 38.68sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 84 warnings · 19492 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×3216 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×3216 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×6432 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×6432 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091385 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091385 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941985 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941985 ms (missed cycles : 2).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553436 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553436 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496688.39991379 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.68sINFOobjective_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: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791496689.03109241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.89sINFOros2_control_node[2026-10-08 21:58:09.164] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-10-08 21:58:09.164] [info] Accepted new action goal ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693510 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693510 ms (missed cycles : 3).[0m ×2 + 4.32sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.20sINFOobjective_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 + 5.22sINFOobjective_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 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592139 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592139 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673992 ms (missed cycles : 5). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673992 ms (missed cycles : 5).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959350 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959350 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206762 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206762 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148068 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148068 ms (missed cycles : 2).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765157 ms (missed cycles : 4). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765157 ms (missed cycles : 4).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139337 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139337 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201074 ms (missed cycles : 4). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201074 ms (missed cycles : 4).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975479 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975479 ms (missed cycles : 2).[0m ×2 + 15.53sWARNros2_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 ×4 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781981 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781981 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400702 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400702 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775926 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775926 ms (missed cycles : 2).[0m ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990680 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990680 ms (missed cycles : 2).[0m ×2 + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246181 ms (missed cycles : 3). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246181 ms (missed cycles : 3).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801137 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801137 ms (missed cycles : 2).[0m ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2).[0m ×2 + 25.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496710.50218511 seconds ×3 + 25.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4).[0m ×2 + 25.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791496711.20665336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 25.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.10sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 26.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.11sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Received new action goal ×2 + 26.11sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Accepted new action goal ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.1s | 3 errors · 85 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553915 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553915 ms (missed cycles : 3).[0m ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921077 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921077 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.90sINFOros2_control_node[2026-10-08 21:55:53.525] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-10-08 21:55:53.525] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-10-08 21:55:54.562] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-10-08 21:55:54.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496554.57639480 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026859 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026859 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×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 + 3.60sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791496555.22377539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312299 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312299 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-10-08 21:55:56.248] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-08 21:55:56.248] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954532 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954532 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204561 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204561 ms (missed cycles : 5).[0m ×2 + 7.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228346 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228346 ms (missed cycles : 4).[0m ×2 + 8.51sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.52sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.56sINFOros2_control_node[2026-10-08 21:56:00.180] [info] Received new action goal ×2 + 8.56sINFOros2_control_node[2026-10-08 21:56:00.180] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935456 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935456 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675720 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675720 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737180 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737180 ms (missed cycles : 4).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933441 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933441 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731431 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731431 ms (missed cycles : 2).[0m ×2 + 13.92sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889994 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889994 ms (missed cycles : 2).[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655366 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655366 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518757 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518757 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804625 ms (missed cycles : 4). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804625 ms (missed cycles : 4).[0m ×2 + 18.03sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.12sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 18.13sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.14sINFOros2_control_node[2026-10-08 21:56:09.760] [info] Received new action goal ×2 + 18.14sINFOros2_control_node[2026-10-08 21:56:09.760] [info] Accepted new action goal ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349096 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349096 ms (missed cycles : 2).[0m ×2 + 18.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533699 ms (missed cycles : 3). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533699 ms (missed cycles : 3).[0m ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017810 ms (missed cycles : 4). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017810 ms (missed cycles : 4).[0m ×2 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991900 ms (missed cycles : 2). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991900 ms (missed cycles : 2).[0m ×2 + 22.05sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791496573.67582202 seconds ×3 + 22.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.59sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909176 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909176 ms (missed cycles : 2).[0m ×2 + 22.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791496574.33418322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.85sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 22.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 22.86sINFOros2_control_node[2026-10-08 21:56:14.479] [info] Received new action goal ×2 + 22.86sINFOros2_control_node[2026-10-08 21:56:14.479] [info] Accepted new action goal ×2 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030574 ms (missed cycles : 2). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030574 ms (missed cycles : 2).[0m ×2 + 24.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517557 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517557 ms (missed cycles : 3).[0m ×2 + 25.17sINFOros2_control_node[2026-10-08 21:56:16.790] [info] Received new action goal ×2 + 25.17sINFOros2_control_node[2026-10-08 21:56:16.790] [info] Accepted new action goal ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620182 ms (missed cycles : 3). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620182 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 60 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533699 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533699 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017810 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017810 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991900 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991900 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791496573.67582202 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.26sINFOobjective_server_nodename: "" ×6 + 3.26sINFOobjective_server_nodeinstance_id: "" ×6 + 3.26sINFOobjective_server_node ×6 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909176 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909176 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791496574.33418322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.52sINFOros2_control_node[2026-10-08 21:56:14.479] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-10-08 21:56:14.479] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030574 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030574 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517557 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517557 ms (missed cycles : 3).[0m ×2 + 5.83sINFOros2_control_node[2026-10-08 21:56:16.790] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-10-08 21:56:16.790] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620182 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620182 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753029 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753029 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707963 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707963 ms (missed cycles : 3).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182571 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182571 ms (missed cycles : 3).[0m ×2 + 10.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687514 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687514 ms (missed cycles : 3).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606169 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606169 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2).[0m ×2 + 14.39sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791496585.35232639 seconds ×3 + 15.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.02sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3).[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791496586.03012943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.12sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791496586.11029387 seconds ×3 + 15.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 15.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.69sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.74sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791496586.70099568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.84sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 17.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 54 warnings · 622 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413075 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413075 ms (missed cycles : 2).[0m ×2 + 0.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.12sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.12sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-10-08 21:57:11.268] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-10-08 21:57:11.268] [info] Accepted new action goal ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534229 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534229 ms (missed cycles : 4).[0m ×2 + 1.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791496632.42470241 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193308 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193308 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791496633.20471001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181888 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181888 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.01sINFOros2_control_node[2026-10-08 21:57:14.229] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-08 21:57:14.229] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937275 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937275 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347076 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347076 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447321 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447321 ms (missed cycles : 3).[0m ×2 + 7.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 7.71sINFOobjective_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 + 7.71sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.71sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.71sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.71sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541917 ms (missed cycles : 5). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541917 ms (missed cycles : 5).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591171 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591171 ms (missed cycles : 2).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025507 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025507 ms (missed cycles : 3).[0m ×2 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.10sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.11sINFOros2_control_node[2026-10-08 21:57:20.329] [info] Received new action goal ×2 + 10.11sINFOros2_control_node[2026-10-08 21:57:20.329] [info] Accepted new action goal ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271373 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271373 ms (missed cycles : 2).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753006 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753006 ms (missed cycles : 3).[0m ×2 + 13.32sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290713 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290713 ms (missed cycles : 2).[0m ×2 + 13.71sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791496643.93486643 seconds ×3 + 14.25sINFOobjective_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: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791496644.52780318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537235 ms (missed cycles : 5). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537235 ms (missed cycles : 5).[0m ×2 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.46sINFOros2_control_node[2026-10-08 21:57:24.681] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-10-08 21:57:24.681] [info] Accepted new action goal ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794106 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794106 ms (missed cycles : 3).[0m ×2 + 15.73sINFOobjective_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 + 15.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657467 ms (missed cycles : 3). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657467 ms (missed cycles : 3).[0m ×2 + 17.15sINFOjoint_trajectory_controllerReceived new action goal ×67 + 17.15sINFOjoint_trajectory_controllerAccepted new action goal ×67 + 17.15sINFOros2_control_nodeReceived new action goal[0m ×134 + 17.15sINFOros2_control_nodeAccepted new action goal[0m ×134 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 57 warnings · 423 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.69sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.19sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.19sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242134 ms (missed cycles : 2). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242134 ms (missed cycles : 2).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510326 ms (missed cycles : 4). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510326 ms (missed cycles : 4).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588870 ms (missed cycles : 4). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588870 ms (missed cycles : 4).[0m ×2 + 9.79sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.81sINFOros2_control_node[2026-10-08 21:54:54.952] [info] Received new action goal ×2 + 9.81sINFOros2_control_node[2026-10-08 21:54:54.952] [info] Accepted new action goal ×2 + 10.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201158 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201158 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604771 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604771 ms (missed cycles : 2).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956620 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956620 ms (missed cycles : 3).[0m ×2 + 13.11sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.13sINFOros2_control_node[2026-10-08 21:54:58.272] [info] Received new action goal ×2 + 13.13sINFOros2_control_node[2026-10-08 21:54:58.272] [info] Accepted new action goal ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936463 ms (missed cycles : 3). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936463 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_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 + 14.02sINFOros2_control_node[2026-10-08 21:54:59.160] [info] Got request to cancel active goal. ×2 + 14.02sINFOros2_control_node[2026-10-08 21:54:59.160] [info] Canceling active goal... ×2 + 14.04sERRORobjective_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: 1791496499.18432260 seconds ×3 + 14.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.58sINFOobjective_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: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791496499.80602312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 14.88sINFOros2_control_node[2026-10-08 21:55:00.019] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-10-08 21:55:00.019] [info] Accepted new action goal ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715711 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715711 ms (missed cycles : 3).[0m ×2 + 15.54sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503544 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503544 ms (missed cycles : 3).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913247 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913247 ms (missed cycles : 4).[0m ×2 + 17.13sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 17.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.15sINFOros2_control_node[2026-10-08 21:55:02.290] [info] Received new action goal ×2 + 17.15sINFOros2_control_node[2026-10-08 21:55:02.290] [info] Accepted new action goal ×2 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020620 ms (missed cycles : 3). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020620 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461515 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599487 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599487 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939511 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939511 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791496743.01878643 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025020 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025020 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791496743.62191319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-08 21:59:03.735] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-08 21:59:03.735] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892025 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892025 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004932 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004932 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134947 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134947 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789605 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789605 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458238 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458238 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185739 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185739 ms (missed cycles : 2).[0m ×2 + 9.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907367 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907367 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939370 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939370 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816012 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816012 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148546 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148546 ms (missed cycles : 4).[0m ×2 + 13.94sINFOobjective_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 + 13.95sERRORobjective_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: 1791496754.06225038 seconds ×3 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.55sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791496754.66615438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169769 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169769 ms (missed cycles : 2).[0m ×2 + 15.55sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 15.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.56sINFOros2_control_node[2026-10-08 21:59:15.670] [info] Received new action goal ×2 + 15.56sINFOros2_control_node[2026-10-08 21:59:15.670] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803225 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803225 ms (missed cycles : 2).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464225 ms (missed cycles : 6). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464225 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 3 errors · 57 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272307 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272307 ms (missed cycles : 5).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744674 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744674 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444194 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444194 ms (missed cycles : 2).[0m ×2 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371584 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371584 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791496544.17166829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.55sINFOros2_control_node[2026-10-08 21:55:44.376] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-10-08 21:55:44.376] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992540 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992540 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349729 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349729 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714206 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714206 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 6.79sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 5 iterations (0.00359302 s). ×2 + 6.83sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 6.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 7.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.21sINFOros2_control_node[2026-10-08 21:55:48.037] [info] Received new action goal ×2 + 7.21sINFOros2_control_node[2026-10-08 21:55:48.037] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957679 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957679 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688017 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688017 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002427 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002427 ms (missed cycles : 2).[0m ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 9.72sINFOobjective_server_nodeFound path in 0 iterations (1.2e-07 s). ×2 + 9.73sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 9.81sINFOobjective_server_nodeFound path in 1 iterations (0.00228985 s). ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 9.98sINFOros2_control_node[2026-10-08 21:55:50.810] [info] Received new action goal ×2 + 9.98sINFOros2_control_node[2026-10-08 21:55:50.810] [info] Accepted new action goal ×2 + 10.41sINFOros2_control_node[2026-10-08 21:55:51.242] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-10-08 21:55:51.242] [info] Accepted new action goal ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553915 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553915 ms (missed cycles : 3).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921077 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921077 ms (missed cycles : 2).[0m ×2 + 12.65sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 12.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.70sINFOros2_control_node[2026-10-08 21:55:53.525] [info] Received new action goal ×2 + 12.70sINFOros2_control_node[2026-10-08 21:55:53.525] [info] Accepted new action goal ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2).[0m ×2 + 13.72sINFOobjective_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 + 13.73sINFOros2_control_node[2026-10-08 21:55:54.562] [info] Got request to cancel active goal. ×2 + 13.73sINFOros2_control_node[2026-10-08 21:55:54.562] [info] Canceling active goal... ×2 + 13.75sERRORobjective_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: 1791496554.57639480 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026859 ms (missed cycles : 5). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026859 ms (missed cycles : 5).[0m ×2 + 14.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.29sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.39sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791496555.22377539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312299 ms (missed cycles : 3). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312299 ms (missed cycles : 3).[0m ×2 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.42sINFOros2_control_node[2026-10-08 21:55:56.248] [info] Received new action goal ×2 + 15.42sINFOros2_control_node[2026-10-08 21:55:56.248] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954532 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954532 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204561 ms (missed cycles : 5). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204561 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143305 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143305 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377187 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377187 ms (missed cycles : 3).[0m ×2 + 8.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.97sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780910 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780910 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212098 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212098 ms (missed cycles : 3).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023287 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023287 ms (missed cycles : 3).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051544 ms (missed cycles : 4). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051544 ms (missed cycles : 4).[0m ×2 + 13.85sINFOobjective_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 + 13.86sERRORobjective_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: 1791496732.55470276 seconds ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660558 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660558 ms (missed cycles : 3).[0m ×2 + 14.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.47sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791496733.16722536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 14.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.73sINFOros2_control_node[2026-10-08 21:58:53.424] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-10-08 21:58:53.424] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763316 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763316 ms (missed cycles : 2).[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927947 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927947 ms (missed cycles : 2).[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628354 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628354 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 2958 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×460 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×460 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×920 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×920 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3).[0m ×2 + 2.45sWARNros2_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 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496710.50218511 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791496711.20665336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360696 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360696 ms (missed cycles : 2).[0m ×2 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 8.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229189 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229189 ms (missed cycles : 2).[0m ×2 + 8.29sINFOobjective_server_nodeFound path in 1 iterations (0.00315304 s). ×2 + 8.31sWARNros2_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 + 8.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.43sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.45sINFOros2_control_node[2026-10-08 21:58:35.823] [info] Received new action goal ×2 + 8.45sINFOros2_control_node[2026-10-08 21:58:35.823] [info] Accepted new action goal ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503066 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503066 ms (missed cycles : 3).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916949 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916949 ms (missed cycles : 2).[0m ×2 + 10.75sINFOros2_control_node[2026-10-08 21:58:38.125] [info] Received new action goal ×2 + 10.75sINFOros2_control_node[2026-10-08 21:58:38.125] [info] Accepted new action goal ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 12.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.42sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 12.42sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 13.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 14.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 16.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 194 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×6 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×8 + 6.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (1.91e-07 s). ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 5 iterations (0.00495602 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.69sINFOros2_control_node[2026-10-08 21:55:37.300] [info] Received new action goal ×2 + 7.69sINFOros2_control_node[2026-10-08 21:55:37.300] [info] Accepted new action goal ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146177 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146177 ms (missed cycles : 2).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014829 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014829 ms (missed cycles : 3).[0m ×2 + 9.95sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951014 ms (missed cycles : 3). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951014 ms (missed cycles : 3).[0m ×2 + 10.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.21sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791496539.85605788 seconds ×3 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272307 ms (missed cycles : 5). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272307 ms (missed cycles : 5).[0m ×2 + 11.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744674 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744674 ms (missed cycles : 2).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444194 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444194 ms (missed cycles : 2).[0m ×2 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371584 ms (missed cycles : 4). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371584 ms (missed cycles : 4).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791496544.17166829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 14.77sINFOros2_control_node[2026-10-08 21:55:44.376] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-10-08 21:55:44.376] [info] Accepted new action goal ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992540 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992540 ms (missed cycles : 3).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349729 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349729 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714206 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714206 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604771 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604771 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956620 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956620 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.66sINFOros2_control_node[2026-10-08 21:54:58.272] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-08 21:54:58.272] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936463 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936463 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.54sINFOros2_control_node[2026-10-08 21:54:59.160] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-10-08 21:54:59.160] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1791496499.18432260 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.11sINFOobjective_server_nodecaller: ×6 + 3.11sINFOobjective_server_nodetype: 0 ×6 + 3.11sINFOobjective_server_nodename: "" ×6 + 3.11sINFOobjective_server_nodeinstance_id: "" ×6 + 3.11sINFOobjective_server_node ×6 + 3.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791496499.80602312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.40sINFOros2_control_node[2026-10-08 21:55:00.019] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-10-08 21:55:00.019] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715711 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715711 ms (missed cycles : 3).[0m ×2 + 4.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503544 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503544 ms (missed cycles : 3).[0m ×2 + 5.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913247 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913247 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.67sINFOros2_control_node[2026-10-08 21:55:02.290] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-10-08 21:55:02.290] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020620 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020620 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341803 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341803 ms (missed cycles : 3).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926088 ms (missed cycles : 5). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926088 ms (missed cycles : 5).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191861 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191861 ms (missed cycles : 3).[0m ×2 + 10.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 13.44sERRORobjective_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: 1791496510.05663180 seconds ×3 + 13.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 14.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.00sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 3 errors · 60 warnings · 415 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.90sINFOobjective_server_nodecaller: ×14 + 1.90sINFOobjective_server_nodetype: 0 ×14 + 1.90sINFOobjective_server_nodename: "" ×14 + 1.90sINFOobjective_server_nodeinstance_id: "" ×14 + 1.90sINFOobjective_server_node ×14 + 2.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5).[0m ×2 + 6.87sWARNros2_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 + 6.93sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.94sINFOros2_control_node[2026-10-08 21:59:53.755] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-08 21:59:53.755] [info] Accepted new action goal ×2 + 6.94sINFOros2_control_node[2026-10-08 21:59:53.755] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034607 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034607 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873945 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873945 ms (missed cycles : 4).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223962 ms (missed cycles : 4). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223962 ms (missed cycles : 4).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2).[0m ×2 + 11.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4).[0m ×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 + 13.74sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Got request to cancel active goal. ×2 + 13.75sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Canceling active goal... ×2 + 13.75sERRORobjective_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: 1791496800.56845427 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3).[0m ×2 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791496801.17425632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791496801.61440706 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5).[0m ×2 + 15.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.34sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791496802.19677091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.38sINFOobjective_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 + 15.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791496802.19836783 seconds ×3 + 15.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791496802.78729129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2).[0m ×2 + 16.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791496802.83837867 seconds ×3 + 16.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.56sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791496803.42382979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4).[0m ×2 + 17.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791496803.89396429 seconds ×3 + 17.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 228 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.16sINFOobjective_server_nodecaller: ×6 + 2.16sINFOobjective_server_nodetype: 0 ×6 + 2.16sINFOobjective_server_nodename: "" ×6 + 2.16sINFOobjective_server_nodeinstance_id: "" ×6 + 2.16sINFOobjective_server_node ×6 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3).[0m ×2 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 6.38sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.39sINFOros2_control_node[2026-10-08 21:55:25.796] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-10-08 21:55:25.796] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657074 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657074 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063919 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063919 ms (missed cycles : 3).[0m ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.71sINFOros2_control_node[2026-10-08 21:55:28.114] [info] Received new action goal ×2 + 8.71sINFOros2_control_node[2026-10-08 21:55:28.114] [info] Accepted new action goal ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187538 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187538 ms (missed cycles : 2).[0m ×2 + 10.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 11.04sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 11.04sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 13.15sINFOobjective_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 + 13.16sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 13.16sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 13.16sERRORobjective_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: 1791496532.56430626 seconds ×3 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 13.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.73sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.97sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 13.97sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 16.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 16.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 16.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023287 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023287 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051544 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051544 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_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 + 2.17sERRORobjective_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: 1791496732.55470276 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660558 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660558 ms (missed cycles : 3).[0m ×2 + 2.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791496733.16722536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.04sINFOros2_control_node[2026-10-08 21:58:53.424] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-10-08 21:58:53.424] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763316 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763316 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927947 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927947 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628354 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628354 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222174 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222174 ms (missed cycles : 2).[0m ×2 + 7.05sINFOros2_control_node[2026-10-08 21:58:57.435] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-10-08 21:58:57.435] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412454 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412454 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285575 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285575 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461515 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461515 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599487 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599487 ms (missed cycles : 3).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939511 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939511 ms (missed cycles : 3).[0m ×2 + 12.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791496743.01878643 seconds ×3 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025020 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025020 ms (missed cycles : 3).[0m ×2 + 13.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.18sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.24sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791496743.62191319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.35sINFOros2_control_node[2026-10-08 21:59:03.735] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-10-08 21:59:03.735] [info] Accepted new action goal ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892025 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892025 ms (missed cycles : 3).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004932 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004932 ms (missed cycles : 2).[0m ×2 + 15.26sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134947 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134947 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 75 errors · 37 warnings · 471 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4).[0m ×2 + 0.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Got request to cancel active goal. ×2 + 0.85sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Canceling active goal... ×2 + 0.86sERRORobjective_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: 1791496800.56845427 seconds ×3 + 0.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.42sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.42sINFOobjective_server_nodecaller: ×8 + 1.42sINFOobjective_server_nodetype: 0 ×8 + 1.42sINFOobjective_server_nodename: "" ×8 + 1.42sINFOobjective_server_nodeinstance_id: "" ×8 + 1.42sINFOobjective_server_node ×8 + 1.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791496801.17425632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791496801.61440706 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791496802.19677091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.49sINFOobjective_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 + 2.49sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791496802.19836783 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791496802.78729129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791496802.83837867 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791496803.42382979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791496803.89396429 seconds ×3 + 4.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611922 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611922 ms (missed cycles : 3).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039812 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039812 ms (missed cycles : 3).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196099 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196099 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278675 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278675 ms (missed cycles : 2).[0m ×2 + 9.92sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.92sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 9.94sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 9.94sERRORweb_video_auth_proxy-25process has died [pid 8107, 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 + 9.94sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 9.95sERRORweb_bridge_auth_proxy-24process has died [pid 8106, 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 + 9.95sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 9.95sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 9.95sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 9.96sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.96sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.97sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.97sINFOvideo_server-23process has finished cleanly [pid 8105] ×2 + 9.97sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.97sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.98sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.98sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.99sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.99sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.00sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.00sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.01sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.01sINFOcontroller_managerShutdown request received.... + 10.01sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.01sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.01sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.01sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.01sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.01sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.01sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.01sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.01sINFOvideo_server2026/10/08 22:00:09 INF shutting down gracefully ×2 + 10.01sINFOvideo_server2026/10/08 22:00:09 INF [WebRTC] closing ×2 + 10.01sINFOvideo_server2026/10/08 22:00:09 INF [RTSP] closing ×2 + 10.01sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.01sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.01sINFOvideo_server2026/10/08 22:00:09 INF waiting for running hooks ×2 + 10.01sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.01sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.01sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.01sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOcontroller_managerShutting down the controller manager. + 10.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.01sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.01sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.01sERRORmove_groupStack trace (most recent call last) in thread 8506: ×2 + 10.01sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.01sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.01sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.01sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.02sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.02sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.02sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.02sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.02sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.02sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.02sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.02sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.02sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.02sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.02sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.02sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.02sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.02sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.02sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.02sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.02sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.02sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.02sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fd0b6dcc3, in __clone ×2 + 10.02sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fd0ae0b83, in ×2 + 10.02sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fd0d73db3, in ×2 + 10.02sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f3fd14d98e4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.02sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3fd1105620, in rclcpp::Rate::sleep() ×2 + 10.02sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3fd1047d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.02sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3fd1009087, in ×2 + 10.02sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fd0d42390, in __cxa_throw ×2 + 10.02sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fd0d2ca54, in std::terminate() ×2 + 10.02sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fd0d420d9, in ×2 + 10.02sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fd0d2cff4, in ×2 + 10.02sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fd0a6c8fe, in abort ×2 + 10.02sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fd0a8927d, in raise ×2 + 10.02sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fd0ae2c0c, in pthread_kill ×2 + 10.02sERRORmove_groupAborted (Signal sent by tkill() 7996 0) ×2 + 10.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.03sERRORmove_group-9process has died [pid 7996, 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_78pbzhns --params-file /tmp/launch_params_m3e0tgf5 --params-file /tmp/launch_params_mlrjhlxl --params-file /tmp/launch_params_15n95vz5 --params-file /tmp/launch_params_xflc2404 --params-file /tmp/launch_params_3oo_lsma']. ×2 + 10.98sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 10.98sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 10.98sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 10.98sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.98sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 10.98sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 10.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.98sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 10.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.98sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.98sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.98sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.98sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 10.98sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.98sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.98sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 10.98sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 10.99sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 10.99sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 10.99sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 10.99sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.99sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 10.99sINFOtf_visualization_relayrclpy.spin(node) ×2 + 10.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.99sINFOtf_visualization_relayexecutor.spin_once() ×2 + 10.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.99sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.99sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.99sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.99sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 10.99sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.99sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.99sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 10.99sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.00sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8101] ×2 + 11.00sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.04sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7999] ×2 + 11.04sERRORjoint_state_visualization_relay-21process has died [pid 8096, 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_5t6aa6uc']. ×2 + 11.04sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.04sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8000] ×2 + 11.04sERRORtf_visualization_relay-20process has died [pid 8077, 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_nfbis1ut']. ×2 + 11.04sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.06sINFOui_teleop_bridge-18process has finished cleanly [pid 8005] ×2 + 11.07sINFOparameter_manager_node-10process has finished cleanly [pid 7997] ×2 + 11.08sINFOwaypoint_manager_node-11process has finished cleanly [pid 7998] ×2 + 11.08sINFOexecute_objective_bridge-17process has finished cleanly [pid 8004] ×2 + 11.14sINFOcomponent_container_mt-16process has finished cleanly [pid 8003] ×2 + 11.19sINFOobjective_server_node[0;m[2026-10-08 22:00:10.901] [moveit_pro_license] [info] ×2 + 11.19sINFOobjective_server_node************************************************* ×4 + 11.19sINFOobjective_server_node* MoveIt Pro License ×2 + 11.19sINFOobjective_server_node* Application has successfully terminated ×2 + 11.37sINFOobjective_server_node_main-14process has finished cleanly [pid 8001] ×2 + 11.37sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.17sINFOcomponent_container_mt-15process has finished cleanly [pid 8002] ×2 + 12.45sINFOweb_bridge-19process has finished cleanly [pid 8006] ×2 + 12.45sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.51sINFOros2_control_node-1process has finished cleanly [pid 7977] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.2s | 3 errors · 51 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_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 + 1.06sERRORobjective_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: 1791496510.05663180 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.60sINFOobjective_server_nodecaller: ×8 + 1.60sINFOobjective_server_nodetype: 0 ×8 + 1.60sINFOobjective_server_nodename: "" ×8 + 1.60sINFOobjective_server_nodeinstance_id: "" ×8 + 1.60sINFOobjective_server_node ×8 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 3.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129500 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129500 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.65sINFOobjective_server_nodeFound path in 1 iterations (0.0021938 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 6.80sINFOros2_control_node[2026-10-08 21:55:15.800] [info] Received new action goal ×2 + 6.80sINFOros2_control_node[2026-10-08 21:55:15.800] [info] Accepted new action goal ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396827 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396827 ms (missed cycles : 3).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752952 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752952 ms (missed cycles : 2).[0m ×2 + 9.11sINFOros2_control_node[2026-10-08 21:55:18.102] [info] Received new action goal ×2 + 9.11sINFOros2_control_node[2026-10-08 21:55:18.102] [info] Accepted new action goal ×2 + 9.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714842 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714842 ms (missed cycles : 3).[0m ×2 + 10.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 10.73sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 10.73sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 12.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 12.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.57sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 12.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 13.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.31sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.45sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 13.47sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 14.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791496585.35232639 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.20sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.20sINFOobjective_server_nodecaller: ×6 + 2.20sINFOobjective_server_nodetype: 0 ×6 + 2.20sINFOobjective_server_nodename: "" ×6 + 2.20sINFOobjective_server_nodeinstance_id: "" ×6 + 2.20sINFOobjective_server_node ×6 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791496586.03012943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791496586.11029387 seconds ×3 + 2.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791496586.70099568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.62sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.76sINFOobjective_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 + 6.76sINFOobjective_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 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 6.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 9.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 30 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071278 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071278 ms (missed cycles : 3).[0m ×2 + 0.01sWARNros2_control_nodeCamera render tick took 1.46 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.43sWARNobjective_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387920 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387920 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 2.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.67sINFOobjective_server_nodecaller: ×14 + 2.67sINFOobjective_server_nodetype: 0 ×14 + 2.67sINFOobjective_server_nodename: "" ×14 + 2.67sINFOobjective_server_nodeinstance_id: "" ×14 + 2.67sINFOobjective_server_node ×14 + 2.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 7.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.75sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.85sINFOobjective_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 + 7.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.94sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 7.94sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2).[0m ×2 + 1.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4).[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[2026-10-08 22:00:00.561] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1791496800.56845427 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.45sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.45sINFOobjective_server_nodecaller: ×8 + 3.45sINFOobjective_server_nodetype: 0 ×8 + 3.45sINFOobjective_server_nodename: "" ×8 + 3.45sINFOobjective_server_nodeinstance_id: "" ×8 + 3.46sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791496801.17425632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791496801.61440706 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791496802.19677091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.52sINFOobjective_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 + 4.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791496802.19836783 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791496802.78729129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791496802.83837867 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791496803.42382979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791496803.89396429 seconds ×3 + 6.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.8s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606169 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606169 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791496585.35232639 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791496586.03012943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791496586.11029387 seconds ×3 + 3.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.93sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791496586.70099568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 6.03sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_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 + 2.29sERRORobjective_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: 1791496510.05663180 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 128 info |
+ 0.00sINFOros2_control_node[2026-10-08 21:55:18.102] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-08 21:55:18.102] [info] Accepted new action goal ×2 + 0.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714842 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714842 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 1.62sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.36sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 5.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 22 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 4.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 6.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4).[0m ×2 + 0.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Got request to cancel active goal. ×2 + 0.85sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Canceling active goal... ×2 + 0.86sERRORobjective_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: 1791496800.56845427 seconds ×3 + 0.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.42sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.42sINFOobjective_server_nodecaller: ×8 + 1.42sINFOobjective_server_nodetype: 0 ×8 + 1.42sINFOobjective_server_nodename: "" ×8 + 1.42sINFOobjective_server_nodeinstance_id: "" ×8 + 1.42sINFOobjective_server_node ×8 + 1.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791496801.17425632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791496801.61440706 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791496802.19677091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.49sINFOobjective_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 + 2.49sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791496802.19836783 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791496802.78729129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791496802.83837867 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791496803.42382979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791496803.89396429 seconds ×3 + 4.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2).[0m ×2 + 5.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611922 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611922 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 26 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4).[0m ×2 + 1.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Got request to cancel active goal. ×2 + 1.88sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Canceling active goal... ×2 + 1.89sERRORobjective_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: 1791496800.56845427 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.45sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.45sINFOobjective_server_nodecaller: ×8 + 2.45sINFOobjective_server_nodetype: 0 ×8 + 2.45sINFOobjective_server_nodename: "" ×8 + 2.45sINFOobjective_server_nodeinstance_id: "" ×8 + 2.45sINFOobjective_server_node ×8 + 2.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791496801.17425632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791496801.61440706 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791496802.19677091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.52sINFOobjective_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 + 3.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791496802.19836783 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791496802.78729129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791496802.83837867 seconds ×3 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791496803.42382979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791496803.89396429 seconds ×3 + 5.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137815 ms (missed cycles : 2).[0m ×2 + 6.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 20 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_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 + 2.29sERRORobjective_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: 1791496510.05663180 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657714 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_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 + 2.29sERRORobjective_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: 1791496510.05663180 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_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 + 1.06sERRORobjective_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: 1791496510.05663180 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.60sINFOobjective_server_nodecaller: ×4 + 1.60sINFOobjective_server_nodetype: 0 ×4 + 1.60sINFOobjective_server_nodename: "" ×4 + 1.60sINFOobjective_server_nodeinstance_id: "" ×4 + 1.60sINFOobjective_server_node ×4 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 3.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_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 + 1.06sERRORobjective_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: 1791496510.05663180 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.60sINFOobjective_server_nodecaller: ×4 + 1.60sINFOobjective_server_nodetype: 0 ×4 + 1.60sINFOobjective_server_nodename: "" ×4 + 1.60sINFOobjective_server_nodeinstance_id: "" ×4 + 1.60sINFOobjective_server_node ×4 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 3.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_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 + 1.06sERRORobjective_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: 1791496510.05663180 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.60sINFOobjective_server_nodecaller: ×4 + 1.60sINFOobjective_server_nodetype: 0 ×4 + 1.60sINFOobjective_server_nodename: "" ×4 + 1.60sINFOobjective_server_nodeinstance_id: "" ×4 + 1.60sINFOobjective_server_node ×4 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 3.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685721 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989788 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_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 + 1.06sERRORobjective_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: 1791496510.05663180 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.60sINFOobjective_server_nodecaller: ×4 + 1.60sINFOobjective_server_nodetype: 0 ×4 + 1.60sINFOobjective_server_nodename: "" ×4 + 1.60sINFOobjective_server_nodeinstance_id: "" ×4 + 1.60sINFOobjective_server_node ×4 + 1.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791496510.64351940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791496510.76366854 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261442 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791496511.43053460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-10-08 21:55:11.615] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825253 ms (missed cycles : 2).[0m ×2 + 3.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720450 ms (missed cycles : 5).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101231 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 124 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344986 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-08 21:55:19.724] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805389 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791496521.02071071 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791496521.63888168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791496521.71902633 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128178 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791496522.36193657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-10-08 21:55:22.466] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478670 ms (missed cycles : 3).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969522 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989313 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 85 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078504 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-10-08 21:55:30.443] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967284 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683494 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-08 21:55:32.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496532.56430626 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830440 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791496533.19380307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-10-08 21:55:33.377] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961799 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461172 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555960 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553915 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553915 ms (missed cycles : 3).[0m ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921077 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921077 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.90sINFOros2_control_node[2026-10-08 21:55:53.525] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-10-08 21:55:53.525] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117220 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-10-08 21:55:54.562] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-10-08 21:55:54.562] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1791496554.57639480 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026859 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026859 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791496555.22377539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312299 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312299 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-10-08 21:55:56.248] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-08 21:55:56.248] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954532 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954532 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204561 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204561 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606169 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606169 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536098 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031091 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791496585.35232639 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355455 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791496586.03012943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791496586.11029387 seconds ×3 + 3.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.93sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791496586.70099568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 6.03sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-10-08 21:56:26.795] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739144 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826486 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791496588.80113530 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371859 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892774 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791496590.45933175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-08 21:56:30.666] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699891 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866945 ms (missed cycles : 2).[0m ×2 + 5.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-10-08 21:56:33.503] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595193 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 486 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271373 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271373 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753006 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753006 ms (missed cycles : 3).[0m ×2 + 2.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290713 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290713 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791496643.93486643 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791496644.52780318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537235 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537235 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.41sINFOros2_control_node[2026-10-08 21:57:24.681] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-10-08 21:57:24.681] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794106 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794106 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.74sINFOobjective_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 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657467 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657467 ms (missed cycles : 3).[0m ×2 + 6.10sINFOjoint_trajectory_controllerReceived new action goal ×67 + 6.10sINFOjoint_trajectory_controllerAccepted new action goal ×67 + 6.10sINFOros2_control_nodeReceived new action goal[0m ×134 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×134 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2848 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×460 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×460 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×920 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×920 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3).[0m ×2 + 2.45sWARNros2_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 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496710.50218511 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791496711.20665336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2848 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×460 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×460 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×920 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×920 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3).[0m ×2 + 2.45sWARNros2_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 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496710.50218511 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791496711.20665336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2848 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×460 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×460 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×920 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×920 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3).[0m ×2 + 2.45sWARNros2_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 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496710.50218511 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791496711.20665336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2848 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×460 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×460 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×920 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×920 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3).[0m ×2 + 2.45sWARNros2_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 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496710.50218511 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791496711.20665336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2848 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×460 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×460 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×920 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×920 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805485 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964750 ms (missed cycles : 3).[0m ×2 + 2.45sWARNros2_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 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733997 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791496710.50218511 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010179 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791496711.20665336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-10-08 21:58:31.380] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864073 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886233 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901260 ms (missed cycles : 3).[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364432 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-10-08 21:58:39.791] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606464 ms (missed cycles : 4).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791496721.08683395 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858846 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791496722.20421076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-10-08 21:58:42.372] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920710 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995369 ms (missed cycles : 3).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023287 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023287 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051544 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051544 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_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 + 2.17sERRORobjective_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: 1791496732.55470276 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660558 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660558 ms (missed cycles : 3).[0m ×2 + 2.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791496733.16722536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.04sINFOros2_control_node[2026-10-08 21:58:53.424] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-10-08 21:58:53.424] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763316 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763316 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927947 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927947 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628354 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628354 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461515 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461515 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599487 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599487 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939511 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939511 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791496743.01878643 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025020 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025020 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791496743.62191319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-08 21:59:03.735] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-08 21:59:03.735] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892025 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892025 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004932 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004932 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134947 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134947 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939370 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939370 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816012 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816012 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148546 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148546 ms (missed cycles : 4).[0m ×2 + 2.31sINFOobjective_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 + 2.31sERRORobjective_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: 1791496754.06225038 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791496754.66615438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169769 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169769 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-10-08 21:59:15.670] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-10-08 21:59:15.670] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803225 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803225 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464225 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464225 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 20 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 20 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437112 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.58sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.90sINFOobjective_server_nodecaller: ×6 + 1.90sINFOobjective_server_nodetype: 0 ×6 + 1.90sINFOobjective_server_nodename: "" ×6 + 1.90sINFOobjective_server_nodeinstance_id: "" ×6 + 1.90sINFOobjective_server_node ×6 + 2.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.90sINFOobjective_server_nodecaller: ×6 + 1.90sINFOobjective_server_nodetype: 0 ×6 + 1.90sINFOobjective_server_nodename: "" ×6 + 1.90sINFOobjective_server_nodeinstance_id: "" ×6 + 1.90sINFOobjective_server_node ×6 + 2.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.90sINFOobjective_server_nodecaller: ×6 + 1.90sINFOobjective_server_nodetype: 0 ×6 + 1.90sINFOobjective_server_nodename: "" ×6 + 1.90sINFOobjective_server_nodeinstance_id: "" ×6 + 1.90sINFOobjective_server_node ×6 + 2.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654552 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208766 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791496788.12112927 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.90sINFOobjective_server_nodecaller: ×6 + 1.90sINFOobjective_server_nodetype: 0 ×6 + 1.90sINFOobjective_server_nodename: "" ×6 + 1.90sINFOobjective_server_nodeinstance_id: "" ×6 + 1.90sINFOobjective_server_node ×6 + 2.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791496788.91541648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846172 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791496789.00557327 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791496789.59141135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791496789.61414266 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149031 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791496790.33082509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-10-08 21:59:50.424] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280403 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785231 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574988 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2).[0m ×2 + 1.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4).[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[2026-10-08 22:00:00.561] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1791496800.56845427 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.45sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.45sINFOobjective_server_nodecaller: ×8 + 3.45sINFOobjective_server_nodetype: 0 ×8 + 3.45sINFOobjective_server_nodename: "" ×8 + 3.45sINFOobjective_server_nodeinstance_id: "" ×8 + 3.46sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791496801.17425632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791496801.61440706 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791496802.19677091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.52sINFOobjective_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 + 4.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791496802.19836783 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791496802.78729129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791496802.83837867 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791496803.42382979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791496803.89396429 seconds ×3 + 6.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768411 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871568 ms (missed cycles : 2).[0m ×2 + 1.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885109 ms (missed cycles : 4).[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[2026-10-08 22:00:00.561] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-10-08 22:00:00.561] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1791496800.56845427 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633968 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.45sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.45sINFOobjective_server_nodecaller: ×8 + 3.45sINFOobjective_server_nodetype: 0 ×8 + 3.45sINFOobjective_server_nodename: "" ×8 + 3.45sINFOobjective_server_nodeinstance_id: "" ×8 + 3.46sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791496801.17425632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791496801.61440706 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444398 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791496802.19677091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.52sINFOobjective_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 + 4.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791496802.19836783 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791496802.78729129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739602 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791496802.83837867 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791496803.42382979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131175 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791496803.89396429 seconds ×3 + 6.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.4s | 51 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-08-21-54-34-234858-36573badf5bf-7929 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.57sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.58sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.68sINFOros2_control_node-1process started with pid [7977] ×2 + 0.68sINFOmove_group-9process started with pid [7996] ×2 + 0.68sINFOparameter_manager_node-10process started with pid [7997] ×2 + 0.68sINFOwaypoint_manager_node-11process started with pid [7998] ×2 + 0.68sINFOmove_joint_resampler_node-12process started with pid [7999] ×2 + 0.68sINFOmove_end_effector_resampler_node-13process started with pid [8000] ×2 + 0.69sINFOobjective_server_node_main-14process started with pid [8001] ×2 + 0.69sINFOcomponent_container_mt-15process started with pid [8002] ×2 + 0.69sINFOcomponent_container_mt-16process started with pid [8003] ×2 + 0.69sINFOexecute_objective_bridge-17process started with pid [8004] ×2 + 0.69sINFOui_teleop_bridge-18process started with pid [8005] ×2 + 0.69sINFOweb_bridge-19process started with pid [8006] ×2 + 0.69sINFOtf_visualization_relay-20process started with pid [8077] ×2 + 0.69sINFOjoint_state_visualization_relay-21process started with pid [8096] ×2 + 0.69sINFOtf2_web_republisher_node-22process started with pid [8101] ×2 + 0.69sINFOvideo_server-23process started with pid [8105] ×2 + 0.69sINFOweb_bridge_auth_proxy-24process started with pid [8106] ×2 + 0.69sINFOweb_video_auth_proxy-25process started with pid [8107] ×2 + 0.69sINFOros2-2process started with pid [7978] ×2 + 0.69sINFOros2-3process started with pid [7979] ×2 + 0.69sINFOros2-4process started with pid [7980] ×2 + 0.69sINFOros2-5process started with pid [7981] ×2 + 0.69sINFOros2-6process started with pid [7982] ×2 + 0.69sINFOros2-7process started with pid [7983] ×2 + 0.69sINFOros2-8process started with pid [7984] ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089529 ms (missed cycles : 7). + 0.71sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.71sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.71sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.71sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.71sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.71sWARNros2_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 + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089529 ms (missed cycles : 7).[0m ×2 + 0.79sINFOcontroller_managerReceived robot description from topic. + 0.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.85sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.85sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF configuration loaded from /tmp/moveit-webrtc-430tmwbv/mediamtx.yml ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 0.97sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.37sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.45sINFOmove_group[2026-10-08 21:54:36.011] [moveit_pro_license] [info] ×2 + 1.45sINFOmove_group************************************************* ×4 + 1.45sINFOmove_group* MoveIt Pro License ×2 + 1.45sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.66sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.70sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.70sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.70sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.71sINFOwaypoint_manager_node[2026-10-08 21:54:36.272] [moveit_pro_license] [info] ×2 + 1.71sINFOwaypoint_manager_node************************************************* ×4 + 1.71sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.71sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.74sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541859 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541859 ms (missed cycles : 3).[0m ×2 + 1.77sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.77sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.77sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.77sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.78sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 1.79sINFOweb_video_auth_proxy2026-10-08 21:54:36,350 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.79sINFOweb_video_auth_proxy2026-10-08 21:54:36,352 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.79sINFOmove_group ×4 + 1.79sINFOmove_group[92mYou can start planning now![0m ×2 + 1.79sINFOros2_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 + 1.79sINFOweb_bridge_auth_proxy2026-10-08 21:54:36,355 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.80sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.32sINFOobjective_server_node[2026-10-08 21:54:36.885] [moveit_pro_license] [info] ×2 + 2.32sINFOobjective_server_node************************************************* ×4 + 2.32sINFOobjective_server_node* MoveIt Pro License ×2 + 2.32sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.47sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 2.47sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.49sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.49sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.68sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 2.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 2.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.07sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.07sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 3.07sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.07sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.07sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.07sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.07sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.07sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.07sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.07sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.08sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.08sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.08sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.08sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.08sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.08sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.08sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.08sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.08sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.08sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.08sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.08sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.08sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 3.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 3.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.17sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.17sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.18sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.19sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.19sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.42sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.42sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 3.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 3.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.47sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 3.47sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.47sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 3.49sINFOros2-5process has finished cleanly [pid 7981] ×2 + 3.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573809 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573809 ms (missed cycles : 3).[0m ×2 + 3.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.54sINFOcomponent_container_mt[2026-10-08 21:54:38.102] [moveit_pro_license] [info] ×2 + 3.54sINFOcomponent_container_mt************************************************* ×4 + 3.54sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.54sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 3.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 3.85sINFOros2-3process has finished cleanly [pid 7979] ×2 + 3.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.86sINFOforce_torque_sensor_broadcasterconfigure successful + 3.86sINFOros2_control_nodeconfigure successful[0m ×2 + 3.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.22sINFOros2-2process has finished cleanly [pid 7978] ×2 + 4.27sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 4.27sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 4.31sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.32sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.32sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.32sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.35sINFOros2_control_node[2026-10-08 21:54:38.907] [info] Controller state will be published at 20 Hz. ×2 + 4.35sINFOros2_control_node[2026-10-08 21:54:38.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.63sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.63sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.69sINFOros2-8process has finished cleanly [pid 7984] ×2 + 4.69sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 4.69sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 4.73sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.73sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.73sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.73sINFOros2_control_node[2026-10-08 21:54:39.293] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.73sINFOros2_control_node[2026-10-08 21:54:39.293] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 4.76sINFOros2_control_node[2026-10-08 21:54:39.318] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.76sINFOros2_control_node[2026-10-08 21:54:39.318] [info] Controller state will be published at 50 Hz. ×2 + 4.79sINFOros2_control_node[2026-10-08 21:54:39.352] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.10sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.10sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.10sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.10sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.11sINFOros2-6process has finished cleanly [pid 7982] ×2 + 5.18sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 5.18sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483432 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483432 ms (missed cycles : 3).[0m ×2 + 5.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.22sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.25sINFOros2_control_node[2026-10-08 21:54:39.807] [info] Controller state will be published at 10 Hz. ×2 + 5.25sINFOros2_control_node[2026-10-08 21:54:39.808] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.56sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.56sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.56sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 5.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 5.58sINFOros2-7process has finished cleanly [pid 7983] ×2 + 5.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.60sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.60sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.60sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.61sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.95sINFOros2-4process has finished cleanly [pid 7980] ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071278 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071278 ms (missed cycles : 3).[0m ×2 + 6.35sWARNros2_control_nodeCamera render tick took 1.46 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.77sWARNobjective_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 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387920 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387920 ms (missed cycles : 5).[0m ×2 + 8.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 8.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 8.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 8.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 8.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 8.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 8.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 8.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 8.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 8.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 8.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 9.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.00sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 9.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 9.00sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 9.00sINFOobjective_server_nodeparameter_overrides: [] ×10 + 9.00sINFOobjective_server_nodecaller: ×10 + 9.00sINFOobjective_server_nodetype: 0 ×10 + 9.00sINFOobjective_server_nodename: "" ×10 + 9.00sINFOobjective_server_nodeinstance_id: "" ×10 + 9.00sINFOobjective_server_node ×10 + 9.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 9.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 9.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 9.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 9.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 10.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 11.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 11.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 11.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 11.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 12.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 12.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 13.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.9s | 23 warnings · 347 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 3.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_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 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 5.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.18sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 399 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×26 + 0.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.59sINFOobjective_server_nodecaller: ×14 + 0.59sINFOobjective_server_nodetype: 0 ×14 + 0.59sINFOobjective_server_nodename: "" ×14 + 0.59sINFOobjective_server_nodeinstance_id: "" ×14 + 0.59sINFOobjective_server_node ×14 + 0.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 4.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_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 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.86sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 6.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 371 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-08-21-54-34-234858-36573badf5bf-7929 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.57sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.58sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.68sINFOros2_control_node-1process started with pid [7977] ×2 + 0.68sINFOmove_group-9process started with pid [7996] ×2 + 0.68sINFOparameter_manager_node-10process started with pid [7997] ×2 + 0.68sINFOwaypoint_manager_node-11process started with pid [7998] ×2 + 0.68sINFOmove_joint_resampler_node-12process started with pid [7999] ×2 + 0.68sINFOmove_end_effector_resampler_node-13process started with pid [8000] ×2 + 0.69sINFOobjective_server_node_main-14process started with pid [8001] ×2 + 0.69sINFOcomponent_container_mt-15process started with pid [8002] ×2 + 0.69sINFOcomponent_container_mt-16process started with pid [8003] ×2 + 0.69sINFOexecute_objective_bridge-17process started with pid [8004] ×2 + 0.69sINFOui_teleop_bridge-18process started with pid [8005] ×2 + 0.69sINFOweb_bridge-19process started with pid [8006] ×2 + 0.69sINFOtf_visualization_relay-20process started with pid [8077] ×2 + 0.69sINFOjoint_state_visualization_relay-21process started with pid [8096] ×2 + 0.69sINFOtf2_web_republisher_node-22process started with pid [8101] ×2 + 0.69sINFOvideo_server-23process started with pid [8105] ×2 + 0.69sINFOweb_bridge_auth_proxy-24process started with pid [8106] ×2 + 0.69sINFOweb_video_auth_proxy-25process started with pid [8107] ×2 + 0.69sINFOros2-2process started with pid [7978] ×2 + 0.69sINFOros2-3process started with pid [7979] ×2 + 0.69sINFOros2-4process started with pid [7980] ×2 + 0.69sINFOros2-5process started with pid [7981] ×2 + 0.69sINFOros2-6process started with pid [7982] ×2 + 0.69sINFOros2-7process started with pid [7983] ×2 + 0.69sINFOros2-8process started with pid [7984] ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089529 ms (missed cycles : 7). + 0.71sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.71sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.71sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.71sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.71sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.71sWARNros2_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 + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089529 ms (missed cycles : 7).[0m ×2 + 0.79sINFOcontroller_managerReceived robot description from topic. + 0.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.85sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.85sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF configuration loaded from /tmp/moveit-webrtc-430tmwbv/mediamtx.yml ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.88sINFOvideo_server2026/10/08 21:54:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 0.97sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.37sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.45sINFOmove_group[2026-10-08 21:54:36.011] [moveit_pro_license] [info] ×2 + 1.45sINFOmove_group************************************************* ×4 + 1.45sINFOmove_group* MoveIt Pro License ×2 + 1.45sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.66sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.69sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.70sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.70sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.70sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.71sINFOwaypoint_manager_node[2026-10-08 21:54:36.272] [moveit_pro_license] [info] ×2 + 1.71sINFOwaypoint_manager_node************************************************* ×4 + 1.71sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.71sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.74sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541859 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541859 ms (missed cycles : 3).[0m ×2 + 1.77sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.77sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.77sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.77sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.78sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 1.79sINFOweb_video_auth_proxy2026-10-08 21:54:36,350 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.79sINFOweb_video_auth_proxy2026-10-08 21:54:36,352 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.79sINFOmove_group ×4 + 1.79sINFOmove_group[92mYou can start planning now![0m ×2 + 1.79sINFOros2_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 + 1.79sINFOweb_bridge_auth_proxy2026-10-08 21:54:36,355 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.80sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.32sINFOobjective_server_node[2026-10-08 21:54:36.885] [moveit_pro_license] [info] ×2 + 2.32sINFOobjective_server_node************************************************* ×4 + 2.32sINFOobjective_server_node* MoveIt Pro License ×2 + 2.32sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.47sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 2.47sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.49sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.49sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.68sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 2.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 2.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.07sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.07sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 3.07sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.07sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.07sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.07sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.07sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.07sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.07sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.07sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.08sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.08sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.08sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.08sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.08sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.08sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.08sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.08sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.08sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.08sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.08sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.08sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.08sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.08sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 3.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 3.17sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.17sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.17sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.17sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.18sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.18sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.19sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.19sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.42sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.42sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 3.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 3.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.47sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 3.47sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.47sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 3.49sINFOros2-5process has finished cleanly [pid 7981] ×2 + 3.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573809 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573809 ms (missed cycles : 3).[0m ×2 + 3.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.54sINFOcomponent_container_mt[2026-10-08 21:54:38.102] [moveit_pro_license] [info] ×2 + 3.54sINFOcomponent_container_mt************************************************* ×4 + 3.54sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.54sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut + 3.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tx55t3kv --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_uhgqtu92 --params-file /tmp/launch_params_bxjxbjut [0m ×2 + 3.85sINFOros2-3process has finished cleanly [pid 7979] ×2 + 3.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.86sINFOforce_torque_sensor_broadcasterconfigure successful + 3.86sINFOros2_control_nodeconfigure successful[0m ×2 + 3.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 20 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 4.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 20 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 4.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 20 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 4.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 399 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×26 + 0.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820712 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.59sINFOobjective_server_nodecaller: ×14 + 0.59sINFOobjective_server_nodetype: 0 ×14 + 0.59sINFOobjective_server_nodename: "" ×14 + 0.59sINFOobjective_server_nodeinstance_id: "" ×14 + 0.59sINFOobjective_server_node ×14 + 0.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791496483.60814929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791496483.61834693 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 4.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_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 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.86sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 6.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 warnings · 333 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791496484.20208406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899819 ms (missed cycles : 3).[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 3.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_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 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 5.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [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 · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791496485.11324525 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794834 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791496485.72152948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791496485.78169847 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791496486.42922735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791496486.44935369 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776032 ms (missed cycles : 3).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791496487.15930867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791496487.30981469 seconds ×3 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791496487.96649146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791496488.01661849 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791496488.72818565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (1.4781e-05 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-08 21:54:48.834] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385876 ms (missed cycles : 5).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062304 ms (missed cycles : 5).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709206 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-10-08 21:54:51.333] [info] Accepted new action goal ×2 | ||||